Upload Part2Obstacle_avoidance (part 41)

.gitattributes

@@ -13400,3 +13400,70 @@ Part2/Free/digiy/ball_15A_15/width_05/pick/fem_node.csv filter=lfs diff=lfs merg
 Part2/Free/digiy/ball_15A_15/width_06/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
 Part2/Free/digiy/ball_15A_15/width_06/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
 Part2/Free/digiy/ball_15A_15/width_07/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_0050_20/position_11/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_0050_20/position_11/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_0050_20/position_11/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_0050_20/position_12/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_0050_20/position_12/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_0050_20/position_12/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_0050_20/position_12/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_0050_20/position_12/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_10/position_01/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_10/position_01/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_10/position_01/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_10/position_01/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_10/position_01/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_10/position_02/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_10/position_02/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_10/position_02/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_10/position_02/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_10/position_02/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_10/position_03/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_10/position_03/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_10/position_03/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_10/position_03/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_10/position_03/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_10/position_04/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_10/position_04/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_10/position_04/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_10/position_04/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_10/position_04/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_10/position_05/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_10/position_05/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_10/position_05/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_10/position_05/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_10/position_05/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_10/position_06/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_10/position_06/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_10/position_06/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_10/position_06/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_10/position_06/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_10/position_07/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_10/position_07/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_10/position_07/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_10/position_07/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_10/position_07/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_10/position_08/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_10/position_08/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_10/position_08/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_10/position_08/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_10/position_08/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_10/position_09/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_10/position_09/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_10/position_09/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_10/position_09/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_10/position_09/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_10/position_10/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_10/position_10/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_10/position_10/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_10/position_10/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_10/position_10/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_10/position_11/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_10/position_11/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_10/position_11/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_10/position_11/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_10/position_11/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_10/position_12/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_10/position_12/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_10/position_12/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_10/position_12/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text

Part2/Obstacle_avoidance/cylinder_0050_20/position_11/depth_02/simulation_data.csv

@@ -0,0 +1,396 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+1,0.016666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+2,0.033333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+3,0.050000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+4,0.066666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+5,0.083333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+6,0.100000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+7,0.116666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+8,0.133333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+9,0.150000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+10,0.166666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+11,0.183333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+12,0.200000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+13,0.216666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+14,0.233333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+15,0.250000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+16,0.266666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+17,0.283333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+18,0.300000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+19,0.316666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+20,0.333333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+21,0.350000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+22,0.366666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+23,0.383333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+24,0.400000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+25,0.416666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+26,0.433333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+27,0.450000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+28,0.466666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+29,0.483333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+30,0.500000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+31,0.516666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+32,0.533333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+33,0.550000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+34,0.566666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+35,0.583333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+36,0.600000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+37,0.616666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+38,0.633333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+39,0.650000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+40,0.666666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+41,0.683333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+42,0.700000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+43,0.716666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+44,0.733333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+45,0.750000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+46,0.766666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+47,0.783333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+48,0.800000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+49,0.816666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+50,0.833333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+51,0.850000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+52,0.866666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+53,0.883333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+54,0.900000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+55,0.916666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+56,0.933333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+57,0.950000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+58,0.966666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+59,0.983333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+60,1.000000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+61,1.016666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+62,1.033333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+63,1.050000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+64,1.066666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+65,1.083333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+66,1.100000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+67,1.116666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+68,1.133333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+69,1.150000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+70,1.166666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+71,1.183333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+72,1.200000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+73,1.216666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+74,1.233333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+75,1.250000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+76,1.266666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+77,1.283333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+78,1.300000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+79,1.316666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+80,1.333333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+81,1.350000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+82,1.366666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+83,1.383333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+84,1.400000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+85,1.416666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+86,1.433333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+87,1.450000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+88,1.466666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+89,1.483333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+90,1.500000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+91,1.516666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+92,1.533333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+93,1.550000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+94,1.566666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+95,1.583333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+96,1.600000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+97,1.616666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+98,1.633333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+99,1.650000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+100,1.666666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+101,1.683333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+102,1.700000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+103,1.716666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+104,1.733333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+105,1.750000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+106,1.766666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+107,1.783333333,pose1_to_pose2_press,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+108,1.800000000,pose1_to_pose2_press,0.575709380505,0.0100547254177,1.06002919177,0.546280107597,0.0187274441036,1.05969847957
+109,1.816666667,pose1_to_pose2_press,0.575709493658,0.0100547181158,1.0600291668,0.546280220605,0.0187274362791,1.05969845381
+110,1.833333333,pose1_to_pose2_press,0.575709517673,0.0100547174573,1.06002916658,0.546280244634,0.0187274356653,1.0596984536
+111,1.850000000,pose1_to_pose2_press,0.575709703172,0.0100547123713,1.0600291649,0.546280430233,0.0187274309241,1.05969845197
+112,1.866666667,pose1_to_pose2_press,0.575710121183,0.0100547091805,1.0600291924,0.546280848416,0.0187274283331,1.05969847989
+113,1.883333333,pose1_to_pose2_press,0.57571119361,0.0100547349742,1.0600293914,0.546281921055,0.0187274549382,1.05969868128
+114,1.900000000,pose1_to_pose2_press,0.575713942216,0.0100545859805,1.06002914651,0.546284672088,0.0187273142517,1.05969843849
+115,1.916666667,pose1_to_pose2_press,0.575719725318,0.0100546068937,1.06002917359,0.546290455307,0.0187273355278,1.05969846441
+116,1.933333333,pose1_to_pose2_press,0.575731843885,0.0100545505339,1.06002930676,0.54630257498,0.0187272827953,1.05969859422
+117,1.950000000,pose1_to_pose2_press,0.575751940103,0.0100546132075,1.06002903852,0.546322670222,0.0187273424416,1.05969833345
+118,1.966666667,pose1_to_pose2_press,0.575782205408,0.0100545837395,1.06002903123,0.546352935708,0.0187273135888,1.05969832611
+119,1.983333333,pose1_to_pose2_press,0.575822675416,0.0100546252254,1.06002918972,0.546393405628,0.0187273546132,1.05969848018
+120,2.000000000,pose1_to_pose2_press,0.575874177133,0.0100545185379,1.06002927568,0.546444908666,0.0187272523271,1.05969856405
+121,2.016666667,pose1_to_pose2_press,0.575934838151,0.0100545363482,1.06002920127,0.546505568044,0.0187272645558,1.05969848915
+122,2.033333333,pose1_to_pose2_press,0.576004532835,0.0100545467722,1.06002933751,0.546575262504,0.0187272740721,1.05969862136
+123,2.050000000,pose1_to_pose2_press,0.576085209211,0.0100545669302,1.06002902991,0.546655940317,0.0187272997006,1.05969832931
+124,2.066666667,pose1_to_pose2_press,0.576177874589,0.0100545910062,1.06002920916,0.546748605926,0.0187273243584,1.05969850321
+125,2.083333333,pose1_to_pose2_press,0.576286983282,0.0100545701088,1.06002925471,0.546857713393,0.018727298999,1.05969854087
+126,2.100000000,pose1_to_pose2_press,0.576413287506,0.0100546639277,1.06002916145,0.54698401512,0.0187273844375,1.05969844993
+127,2.116666667,pose1_to_pose2_press,0.576559599714,0.0100545219608,1.0600291526,0.547130328895,0.0187272478316,1.05969844221
+128,2.133333333,pose1_to_pose2_press,0.576725182943,0.0100545023897,1.06002922533,0.547295913509,0.0187272329916,1.05969851575
+129,2.150000000,pose1_to_pose2_press,0.576910620997,0.0100545444699,1.06002901414,0.547481350986,0.0187272731389,1.05969830514
+130,2.166666667,pose1_to_pose2_press,0.577116985168,0.0100546701845,1.06002910722,0.547687714972,0.0187273980475,1.05969839355
+131,2.183333333,pose1_to_pose2_press,0.577344695641,0.010054539278,1.06002899163,0.547915426441,0.0187272705213,1.05969827784
+132,2.200000000,pose1_to_pose2_press,0.577597421232,0.0100545550114,1.0600290157,0.548168152023,0.0187272862862,1.05969830353
+133,2.216666667,pose1_to_pose2_press,0.577875319334,0.0100544093522,1.06002915109,0.548446052077,0.0187271471291,1.05969843562
+134,2.233333333,pose1_to_pose2_press,0.578180217656,0.0100545525563,1.0600291343,0.5487509479,0.0187272822164,1.05969842835
+135,2.250000000,pose1_to_pose2_press,0.578506764395,0.0100545893967,1.06002894921,0.549077494088,0.0187273169638,1.05969823722
+136,2.266666667,pose1_to_pose2_press,0.578853627135,0.010054569807,1.06002921519,0.549424357347,0.0187272993438,1.05969850866
+137,2.283333333,pose1_to_pose2_press,0.579224479789,0.0100544582687,1.06002916461,0.549795212493,0.0187271961334,1.05969845469
+138,2.300000000,pose1_to_pose2_press,0.579617135202,0.0100544549114,1.06002914828,0.550187867838,0.0187271925006,1.05969843711
+139,2.316666667,pose1_to_pose2_press,0.580030052481,0.010054502159,1.0600293628,0.55060078316,0.0187272331321,1.05969865223
+140,2.333333333,pose1_to_pose2_press,0.580464133741,0.0100546186124,1.06002930331,0.551034862902,0.0187273443363,1.05969859015
+141,2.350000000,pose1_to_pose2_press,0.580921385232,0.0100544178149,1.06002919417,0.551492116901,0.0187271519407,1.05969847803
+142,2.366666667,pose1_to_pose2_press,0.581401730923,0.0100546232115,1.060029247,0.55197246039,0.0187273500266,1.0596985351
+143,2.383333333,pose1_to_pose2_press,0.581907527745,0.0100546274442,1.06002929293,0.55247825725,0.0187273542507,1.05969857736
+144,2.400000000,pose1_to_pose2_press,0.582449531536,0.0100545076178,1.06002891402,0.55302026251,0.0187272395161,1.05969820119
+145,2.416666667,pose1_to_pose2_press,0.583021808517,0.0100545440559,1.06002905388,0.553592539013,0.0187272746445,1.05969834927
+146,2.433333333,pose1_to_pose2_press,0.583618266901,0.010054584438,1.06002905447,0.554188996374,0.0187273113742,1.0596983451
+147,2.450000000,pose1_to_pose2_press,0.584233871548,0.0100544532053,1.0600291409,0.554804601969,0.0187271833054,1.05969843008
+148,2.466666667,pose1_to_pose2_press,0.584868121321,0.0100545853882,1.06002919494,0.555438851249,0.0187273134965,1.0596984757
+149,2.483333333,pose1_to_pose2_press,0.585520651868,0.0100546016106,1.0600291534,0.556091382589,0.0187273327264,1.05969844243
+150,2.500000000,pose1_to_pose2_press,0.58619559148,0.0100543931499,1.06002914587,0.556766323953,0.0187271302649,1.05969843631
+151,2.516666667,pose1_to_pose2_press,0.586900737181,0.0100544843317,1.0600292798,0.557471468723,0.0187272180621,1.05969856422
+152,2.533333333,pose1_to_pose2_press,0.587623619641,0.0100545993218,1.06002897199,0.558194350084,0.018727329491,1.05969826086
+153,2.550000000,pose1_to_pose2_press,0.58835517853,0.0100545929466,1.0600292165,0.558925908667,0.0187273221954,1.05969850846
+154,2.566666667,pose1_to_pose2_press,0.589088910141,0.0100545223215,1.06002929779,0.559659641052,0.0187272539205,1.05969858253
+155,2.583333333,pose1_to_pose2_press,0.589825142632,0.0100545624729,1.06002916207,0.560395872402,0.0187272905133,1.05969845502
+156,2.600000000,pose1_to_pose2_press,0.590572796933,0.0100545287382,1.0600291335,0.561143527873,0.0187272607667,1.05969842691
+157,2.616666667,pose1_to_pose2_press,0.591340552653,0.0100545215712,1.06002909331,0.561911283674,0.0187272534577,1.05969837579
+158,2.633333333,pose1_to_pose2_press,0.592139548325,0.0100544603877,1.06002907709,0.562710279299,0.018727192041,1.05969835765
+159,2.650000000,pose1_to_pose2_press,0.592962458931,0.0100544893768,1.06002892496,0.563533189722,0.0187272208618,1.05969821745
+160,2.666666667,pose1_to_pose2_press,0.593806439234,0.0100546678199,1.06002915392,0.564377168141,0.0187273932438,1.05969845509
+161,2.683333333,pose1_to_pose2_press,0.594652870308,0.0100544683411,1.06002927567,0.565223602584,0.0187272047136,1.05969856426
+162,2.700000000,pose1_to_pose2_press,0.595495452994,0.010054368971,1.06002903212,0.566066185963,0.0187271079721,1.05969832799
+163,2.716666667,pose1_to_pose2_press,0.596311505262,0.0100543888482,1.0600291201,0.566882238695,0.0187271292967,1.05969841261
+164,2.733333333,pose1_to_pose2_press,0.597111677944,0.0100546994812,1.0600290411,0.567682406669,0.018727423999,1.05969833487
+165,2.750000000,pose1_to_pose2_press,0.597910135263,0.0100545051689,1.06002908639,0.568480866097,0.0187272370409,1.05969838541
+166,2.766666667,pose1_to_pose2_press,0.59871757737,0.0100544731354,1.06002916513,0.56928830953,0.0187272090804,1.05969845309
+167,2.783333333,pose1_to_pose2_press,0.59953976383,0.0100547011965,1.06002915873,0.570110492546,0.0187274254982,1.05969844787
+168,2.800000000,pose1_to_pose2_press,0.600384882291,0.0100546616811,1.06002907116,0.570955611456,0.01872738749,1.05969835983
+169,2.816666667,pose1_to_pose2_press,0.601241254412,0.010054636398,1.06002920043,0.571811985515,0.0187273690764,1.05969849692
+170,2.833333333,pose1_to_pose2_press,0.602091496977,0.0100545231538,1.06002904632,0.572662228977,0.0187272589279,1.05969834423
+171,2.850000000,pose1_to_pose2_press,0.602925619233,0.010054528396,1.06002902365,0.573496348303,0.0187272539822,1.05969831519
+172,2.866666667,pose1_to_pose2_press,0.603737269169,0.0100546369589,1.06002911251,0.574307998146,0.0187273623839,1.05969840818
+173,2.883333333,pose1_to_pose2_press,0.604517655241,0.0100545695918,1.06002917237,0.575088386267,0.0187273016103,1.05969845867
+174,2.900000000,pose1_to_pose2_press,0.605264980028,0.0100544441494,1.06002896145,0.575835711544,0.0187271779025,1.05969824972
+175,2.916666667,pose1_to_pose2_press,0.605997630087,0.0100544904628,1.06002925627,0.576568361337,0.0187272229984,1.05969853638
+176,2.933333333,pose1_to_pose2_press,0.606722782809,0.0100545642603,1.06002917858,0.577293511999,0.0187272901702,1.05969846834
+177,2.950000000,pose1_to_pose2_press,0.607449480316,0.0100545696564,1.06002906074,0.578020210348,0.0187272984565,1.05969835151
+178,2.966666667,pose1_to_pose2_press,0.608183063929,0.0100546226767,1.06002943534,0.578753793563,0.0187273499571,1.05969872164
+179,2.983333333,pose1_to_pose2_press,0.608919240727,0.0100545860383,1.0600289518,0.579489969501,0.0187273109384,1.05969825236
+180,3.000000000,pose1_to_pose2_press,0.609630809961,0.0100546810435,1.06002927834,0.580201537392,0.0187274006886,1.05969856068
+181,3.016666667,pose1_to_pose2_press,0.610311615255,0.0100544102026,1.06002903223,0.580882346583,0.0187271434055,1.0596983234
+182,3.033333333,pose1_to_pose2_press,0.610948894432,0.0100544644622,1.06002900671,0.581519627174,0.0187272025172,1.05969829943
+183,3.050000000,pose1_to_pose2_press,0.611551366109,0.0100545583041,1.06002930344,0.582122096428,0.0187272877277,1.05969858553
+184,3.066666667,pose1_to_pose2_press,0.612121389289,0.010054380632,1.06002892566,0.582692120808,0.0187271144273,1.05969821561
+185,3.083333333,pose1_to_pose2_press,0.612662903333,0.0100545382062,1.06002910044,0.583233634214,0.0187272701067,1.05969839709
+186,3.100000000,pose1_to_pose2_press,0.613176177347,0.0100546739945,1.06002907255,0.583746905567,0.0187273964261,1.05969835794
+187,3.116666667,pose1_to_pose2_press,0.613666913772,0.0100546797555,1.06002901457,0.584237642027,0.0187274027317,1.05969830977
+188,3.133333333,pose1_to_pose2_press,0.614139022055,0.0100545604232,1.06002921012,0.584709752778,0.0187272917332,1.05969850306
+189,3.150000000,pose1_to_pose2_press,0.614595860226,0.0100544418282,1.06002909008,0.585166591996,0.0187271766866,1.05969838171
+190,3.166666667,pose1_to_pose2_press,0.615040850213,0.0100544283566,1.0600290128,0.585611582468,0.01872716495,1.0596983051
+191,3.183333333,pose1_to_pose2_press,0.615473043315,0.0100544580109,1.0600292456,0.586043774633,0.0187271911423,1.05969852864
+192,3.200000000,pose1_to_pose2_press,0.615878835382,0.0100545686719,1.06002939529,0.5864495673,0.0187273040097,1.0596986787
+193,3.216666667,pose1_to_pose2_press,0.616254926778,0.0100544108032,1.06002909957,0.586825659199,0.0187271481281,1.05969838591
+194,3.233333333,pose1_to_pose2_press,0.616592391937,0.0100545444405,1.06002937065,0.58716312281,0.0187272764045,1.05969864803
+195,3.250000000,pose1_to_pose2_press,0.616896236654,0.0100546298975,1.0600291164,0.587466965533,0.0187273558035,1.0596984074
+196,3.266666667,pose1_to_pose2_press,0.617169477711,0.0100545414471,1.06002905308,0.587740207496,0.0187272704313,1.05969833863
+197,3.283333333,pose1_to_pose2_press,0.617423923206,0.0100545425185,1.06002913374,0.587994652934,0.018727271383,1.05969841683
+198,3.300000000,pose1_to_pose2_press,0.617662281678,0.0100545255443,1.06002912665,0.588233011844,0.0187272565294,1.059698423
+199,3.316666667,pose1_to_pose2_press,0.617885996616,0.0100545201696,1.06002916425,0.588456727412,0.0187272536279,1.0596984651
+200,3.333333333,pose1_to_pose2_press,0.618094170755,0.0100545746033,1.06002923872,0.588664900527,0.0187273046096,1.05969853579
+201,3.350000000,pose1_to_pose2_press,0.618283489734,0.0100546075877,1.06002907391,0.588854218866,0.0187273356219,1.05969837267
+202,3.366666667,pose1_to_pose2_press,0.618453871286,0.0100546263323,1.06002909774,0.58902460022,0.018727353682,1.05969839255
+203,3.383333333,pose1_to_pose2_press,0.618603842944,0.0100546239559,1.06002934233,0.589174571427,0.0187273497432,1.05969863341
+204,3.400000000,pose1_to_pose2_press,0.618737224269,0.0100545873057,1.06002919062,0.58930795388,0.0187273169128,1.0596984785
+205,3.416666667,pose1_to_pose2_press,0.618854252701,0.0100544966193,1.06002913548,0.589424982864,0.0187272280779,1.05969841983
+206,3.433333333,pose1_to_pose2_press,0.618954692009,0.0100544625386,1.06002925981,0.589525421646,0.0187271924912,1.05969855071
+207,3.450000000,pose1_to_pose2_press,0.619040474616,0.0100544698591,1.06002926578,0.58961120498,0.0187272025146,1.05969856206
+208,3.466666667,pose1_to_pose2_press,0.619112621915,0.0100546698781,1.06002936769,0.589683349851,0.0187273943403,1.05969865543
+209,3.483333333,pose1_to_pose2_press,0.619173791215,0.0100546720263,1.06002916521,0.589744519294,0.0187273969887,1.05969845174
+210,3.500000000,pose1_to_pose2_press,0.619224102391,0.0100547907247,1.06002915354,0.589794829394,0.0187275122552,1.05969844445
+211,3.516666667,pose1_to_pose2_press,0.619266187615,0.0100545112383,1.06002907121,0.589836917627,0.0187272425404,1.05969835506
+212,3.533333333,pose1_to_pose2_press,0.619300200444,0.0100544436309,1.06002914481,0.589870930851,0.0187271763329,1.0596984326
+213,3.550000000,pose1_to_pose2_press,0.619326457293,0.0100545567865,1.06002914326,0.589897187175,0.0187272880475,1.05969843588
+214,3.566666667,pose1_to_pose2_press,0.619346667882,0.0100545253774,1.06002912898,0.589917398359,0.01872725871,1.05969842338
+215,3.583333333,pose1_to_pose2_press,0.619361573406,0.0100544580042,1.0600291349,0.589932304112,0.0187271919745,1.05969842746
+216,3.600000000,pose1_to_pose2_press,0.619372438973,0.0100544725461,1.06002916179,0.589943168954,0.0187272039874,1.0596984525
+217,3.616666667,pose1_to_pose2_press,0.61937941678,0.0100546172412,1.06002921285,0.58995014601,0.0187273464569,1.05969851054
+218,3.633333333,pose1_to_pose2_press,0.619384404393,0.0100545787818,1.06002908912,0.589955133713,0.0187273083859,1.05969838876
+219,3.650000000,pose1_to_pose2_press,0.619387830405,0.0100544692255,1.06002891025,0.589958560156,0.018727200256,1.05969820943
+220,3.666666667,pose1_to_pose2_press,0.61938991189,0.0100545368053,1.06002896837,0.589960640879,0.0187272650879,1.05969826361
+221,3.683333333,pose1_to_pose2_press,0.619391267991,0.0100546286116,1.06002906564,0.589961996119,0.0187273538165,1.05969835702
+222,3.700000000,pose1_to_pose2_press,0.619392086168,0.0100546840012,1.06002912432,0.589962813777,0.0187274073492,1.05969841337
+223,3.716666667,pose1_to_pose2_press,0.619392558178,0.0100547159556,1.06002915818,0.589963285487,0.0187274382324,1.05969844588
+224,3.733333333,pose1_to_pose2_press,0.619392833959,0.0100547274762,1.06002917352,0.589963561221,0.0187274495659,1.05969846059
+225,3.750000000,pose1_to_pose2_press,0.619393079053,0.0100547150804,1.06002917311,0.589963806677,0.0187274383932,1.05969846011
+226,3.766666667,pose1_to_pose2_press,0.619393428787,0.0100546973923,1.06002917252,0.589964156926,0.0187274224504,1.05969845943
+227,3.783333333,pose1_to_pose2_press,0.619393987745,0.0100546691226,1.06002917157,0.589964716708,0.0187273969701,1.05969845833
+228,3.800000000,pose1_to_pose2_press,0.619394499493,0.0100546432406,1.06002917071,0.58996522921,0.0187273736418,1.05969845732
+229,3.816666667,pose1_to_pose2_press,0.619394928201,0.0100546215584,1.06002916998,0.58996565855,0.018727354099,1.05969845648
+230,3.833333333,pose1_to_pose2_press,0.619395087688,0.0100546272353,1.06002916843,0.589965818006,0.0187273596832,1.05969845526
+231,3.850000000,pose1_to_pose2_press,0.61939515035,0.010054640034,1.06002916684,0.589965880451,0.0187273717623,1.05969845408
+232,3.866666667,pose1_to_pose2_press,0.619395240511,0.010054658449,1.06002916454,0.5899659703,0.0187273891419,1.05969845237
+233,3.883333333,pose1_to_pose2_press,0.619395346227,0.0100546800413,1.06002916185,0.58996607565,0.0187274095201,1.05969845038
+234,3.900000000,pose1_to_pose2_press,0.619395454474,0.0100547021505,1.06002915909,0.589966183522,0.0187274303861,1.05969844834
+235,3.916666667,pose1_to_pose2_press,0.619395554255,0.0100547225305,1.06002915655,0.589966282958,0.0187274496202,1.05969844646
+236,3.933333333,pose1_to_pose2_press,0.619395797646,0.0100547722423,1.06002915035,0.589966525505,0.0187274965369,1.05969844186
+237,3.950000000,pose1_to_pose2_press,0.619396022626,0.0100548181938,1.06002914462,0.589966749706,0.0187275399048,1.05969843762
+238,3.966666667,pose1_to_pose2_press,0.619396190573,0.0100548113124,1.06002914208,0.589966917392,0.0187275321437,1.05969843522
+239,3.983333333,pose1_to_pose2_press,0.619396332677,0.0100547666375,1.06002914158,0.589967059577,0.0187274877143,1.05969843391
+240,4.000000000,pose1_to_pose2_press,0.619396444965,0.0100547440858,1.06002918701,0.589967171752,0.0187274648213,1.05969848024
+241,4.016666667,pose1_to_pose2_press,0.619396469295,0.0100547852209,1.06002936232,0.58996719542,0.0187275039459,1.05969866122
+242,4.033333333,pose2_hold,0.619396469295,0.0100547852209,1.06002936232,0.589967195421,0.0187275039449,1.05969866122
+243,4.050000000,pose2_hold,0.619396469295,0.0100547852209,1.06002936232,0.589967195421,0.0187275039449,1.05969866122
+244,4.066666667,pose2_hold,0.619396469295,0.0100547852209,1.06002936232,0.589967195423,0.0187275039425,1.05969866122
+245,4.083333333,pose2_hold,0.619396469295,0.0100547852209,1.06002936232,0.589967195421,0.0187275039446,1.05969866122
+246,4.100000000,pose2_hold,0.619396469295,0.0100547852209,1.06002936232,0.589967195421,0.0187275039453,1.05969866122
+247,4.116666667,pose2_hold,0.619396469295,0.0100547852209,1.06002936232,0.589967195422,0.0187275039435,1.05969866122
+248,4.133333333,pose2_hold,0.619396469295,0.0100547852209,1.06002936232,0.589967195421,0.0187275039455,1.05969866122
+249,4.150000000,pose2_hold,0.619396469295,0.0100547852209,1.06002936232,0.589967195423,0.018727503944,1.05969866122
+250,4.166666667,pose2_hold,0.619396469295,0.0100547852209,1.06002936232,0.589967195421,0.0187275039453,1.05969866122
+251,4.183333333,pose2_hold,0.619396469295,0.0100547852209,1.06002936232,0.58996719542,0.0187275039434,1.05969866122
+252,4.200000000,pose2_hold,0.619396469295,0.0100547852209,1.06002936232,0.58996719542,0.0187275039436,1.05969866122
+253,4.216666667,pose2_hold,0.619396469295,0.0100547852209,1.06002936232,0.58996719542,0.0187275039437,1.05969866122
+254,4.233333333,pose2_hold,0.619396469295,0.0100547852209,1.06002936232,0.58996719542,0.0187275039441,1.05969866122
+255,4.250000000,pose2_hold,0.619396469295,0.0100547852209,1.06002936232,0.58996719542,0.0187275039441,1.05969866122
+256,4.266666667,pose2_hold,0.619396469295,0.0100547852209,1.06002936232,0.589967195422,0.018727503943,1.05969866122
+257,4.283333333,pose2_hold,0.619396469295,0.0100547852209,1.06002936232,0.58996719542,0.0187275039457,1.05969866122
+258,4.300000000,pose2_hold,0.619396469295,0.0100547852209,1.06002936232,0.589967195421,0.0187275039456,1.05969866122
+259,4.316666667,pose2_hold,0.619396469295,0.0100547852209,1.06002936232,0.58996719542,0.0187275039445,1.05969866122
+260,4.333333333,pose2_to_pose3_retreat,0.619396469295,0.0100547852209,1.06002936232,0.589967195419,0.0187275039454,1.05969866122
+261,4.350000000,pose2_to_pose3_retreat,0.619396454494,0.0100547601972,1.06002925568,0.589967181018,0.018727480144,1.05969855111
+262,4.366666667,pose2_to_pose3_retreat,0.619396441335,0.0100547379491,1.06002916086,0.589967168214,0.0187274589825,1.05969845322
+263,4.383333333,pose2_to_pose3_retreat,0.619396429179,0.0100547330572,1.06002913738,0.589967156128,0.018727454307,1.05969842915
+264,4.400000000,pose2_to_pose3_retreat,0.619396207321,0.0100547265134,1.0600290474,0.589966934191,0.0187274475491,1.05969834046
+265,4.416666667,pose2_to_pose3_retreat,0.619395324998,0.0100547429488,1.06002891008,0.589966052636,0.0187274668853,1.05969821059
+266,4.433333333,pose2_to_pose3_retreat,0.619392950381,0.010054550812,1.06002905736,0.589963679743,0.0187272805339,1.05969835581
+267,4.450000000,pose2_to_pose3_retreat,0.619387257926,0.0100546243925,1.06002902165,0.589957985194,0.0187273467286,1.05969831394
+268,4.466666667,pose2_to_pose3_retreat,0.619375393796,0.0100545810346,1.0600291936,0.58994612469,0.0187273155974,1.05969848283
+269,4.483333333,pose2_to_pose3_retreat,0.619353645291,0.0100545478794,1.06002910484,0.589924375459,0.018727280037,1.05969839486
+270,4.500000000,pose2_to_pose3_retreat,0.619319492105,0.0100545865989,1.06002913417,0.589890220997,0.0187273143491,1.05969842239
+271,4.516666667,pose2_to_pose3_retreat,0.619272887168,0.0100545851164,1.06002889629,0.589843617026,0.0187273163416,1.0596981899
+272,4.533333333,pose2_to_pose3_retreat,0.619214911064,0.0100544537603,1.0600290499,0.589785642566,0.0187271902143,1.05969834141
+273,4.550000000,pose2_to_pose3_retreat,0.619145723972,0.0100545352914,1.06002924131,0.589716455069,0.0187272701096,1.05969853172
+274,4.566666667,pose2_to_pose3_retreat,0.619067697001,0.0100546618581,1.06002922855,0.589638426309,0.0187273903753,1.05969850724
+275,4.583333333,pose2_to_pose3_retreat,0.618980707654,0.0100545888421,1.06002916613,0.58955143806,0.0187273212979,1.05969845251
+276,4.600000000,pose2_to_pose3_retreat,0.618881309085,0.0100546023894,1.06002913909,0.589452038689,0.0187273322218,1.05969843172
+277,4.616666667,pose2_to_pose3_retreat,0.618768293562,0.0100545822211,1.06002911766,0.589339022808,0.0187273108951,1.05969841431
+278,4.633333333,pose2_to_pose3_retreat,0.61863461129,0.0100545684873,1.0600290784,0.589205340889,0.0187272980659,1.0596983705
+279,4.650000000,pose2_to_pose3_retreat,0.618480574389,0.0100545135235,1.06002904766,0.589051304362,0.0187272440362,1.05969833385
+280,4.666666667,pose2_to_pose3_retreat,0.618304378127,0.0100544493281,1.06002908336,0.58887510869,0.0187271818776,1.059698374
+281,4.683333333,pose2_to_pose3_retreat,0.618106231056,0.0100545379424,1.06002902037,0.588676961499,0.0187272701587,1.05969831745
+282,4.700000000,pose2_to_pose3_retreat,0.61788520426,0.0100545264186,1.06002899359,0.588455935227,0.0187272602057,1.05969828876
+283,4.716666667,pose2_to_pose3_retreat,0.6176453003,0.0100544573731,1.06002910601,0.588216032109,0.0187271936812,1.05969839634
+284,4.733333333,pose2_to_pose3_retreat,0.617386358836,0.0100545451435,1.06002915442,0.587957089341,0.0187272767683,1.05969844374
+285,4.750000000,pose2_to_pose3_retreat,0.61710412404,0.0100546013311,1.06002939405,0.587674853419,0.0187273285746,1.05969867421
+286,4.766666667,pose2_to_pose3_retreat,0.616799303916,0.0100546017868,1.06002927199,0.587370034566,0.0187273332837,1.05969855679
+287,4.783333333,pose2_to_pose3_retreat,0.616470090581,0.0100546574717,1.06002921915,0.587040820452,0.0187273860445,1.05969850051
+288,4.800000000,pose2_to_pose3_retreat,0.616115667248,0.0100546043843,1.06002927026,0.586686396455,0.0187273305124,1.05969855345
+289,4.816666667,pose2_to_pose3_retreat,0.615735885564,0.0100544691452,1.06002900423,0.586306616601,0.0187272019109,1.05969830102
+290,4.833333333,pose2_to_pose3_retreat,0.615323909157,0.0100545444857,1.06002901832,0.585894639061,0.0187272730529,1.0596983127
+291,4.850000000,pose2_to_pose3_retreat,0.614879347439,0.0100545486103,1.06002904885,0.585450076865,0.0187272752263,1.05969833872
+292,4.866666667,pose2_to_pose3_retreat,0.614396686935,0.0100547937172,1.06002937705,0.584967413842,0.0187275117374,1.05969866527
+293,4.883333333,pose2_to_pose3_retreat,0.613882300853,0.0100545596314,1.06002904646,0.584453030334,0.0187272862039,1.05969833069
+294,4.900000000,pose2_to_pose3_retreat,0.613339222055,0.0100546017282,1.06002893897,0.583909950663,0.0187273256784,1.05969823048
+295,4.916666667,pose2_to_pose3_retreat,0.612777467941,0.0100546513764,1.06002918595,0.583348196367,0.0187273751095,1.05969848863
+296,4.933333333,pose2_to_pose3_retreat,0.612199331206,0.0100546004298,1.06002891181,0.582770060925,0.0187273284148,1.05969821129
+297,4.950000000,pose2_to_pose3_retreat,0.611600945157,0.0100546567039,1.0600293661,0.582171673878,0.0187273810363,1.05969865838
+298,4.966666667,pose2_to_pose3_retreat,0.610977543346,0.0100546403031,1.06002889491,0.581548271591,0.0187273631302,1.05969818948
+299,4.983333333,pose2_to_pose3_retreat,0.610320728642,0.010054628683,1.06002888483,0.58089145842,0.0187273568629,1.05969818399
+300,5.000000000,pose2_to_pose3_retreat,0.609632952917,0.01005451751,1.06002904163,0.580203683327,0.0187272475267,1.05969833181
+301,5.016666667,pose2_to_pose3_retreat,0.608914687612,0.010054600465,1.06002916906,0.579485415511,0.0187273218724,1.05969845771
+302,5.033333333,pose2_to_pose3_retreat,0.608178518381,0.0100546183042,1.06002941756,0.578749249446,0.0187273502563,1.05969869932
+303,5.050000000,pose2_to_pose3_retreat,0.607423089768,0.0100545047705,1.06002890653,0.57799382065,0.0187272365366,1.05969820175
+304,5.066666667,pose2_to_pose3_retreat,0.606633188151,0.0100543923251,1.06002924988,0.577203920288,0.0187271281904,1.05969854079
+305,5.083333333,pose2_to_pose3_retreat,0.605818602425,0.010054579949,1.06002916145,0.576389332962,0.01872731029,1.05969844987
+306,5.100000000,pose2_to_pose3_retreat,0.60498888452,0.0100545370002,1.06002911841,0.57555961485,0.0187272667426,1.05969840955
+307,5.116666667,pose2_to_pose3_retreat,0.604150021696,0.0100544191964,1.06002891958,0.574720754243,0.0187271564924,1.05969821143
+308,5.133333333,pose2_to_pose3_retreat,0.603310407638,0.0100545858304,1.06002909827,0.573881138413,0.0187273168023,1.05969838193
+309,5.150000000,pose2_to_pose3_retreat,0.602486072972,0.0100545611303,1.06002928768,0.573056805096,0.0187272966401,1.05969857034
+310,5.166666667,pose2_to_pose3_retreat,0.601663607622,0.0100545257475,1.06002916747,0.572234339474,0.0187272604777,1.0596984544
+311,5.183333333,pose2_to_pose3_retreat,0.600821971564,0.0100545435241,1.06002912709,0.571392703507,0.0187272788958,1.05969842175
+312,5.200000000,pose2_to_pose3_retreat,0.599953809368,0.0100545490443,1.0600292144,0.570524539754,0.0187272784069,1.05969849
+313,5.216666667,pose2_to_pose3_retreat,0.599056453438,0.010054622987,1.06002902887,0.569627182022,0.0187273470038,1.05969832454
+314,5.233333333,pose2_to_pose3_retreat,0.598140100712,0.0100545635397,1.06002915661,0.568710831064,0.0187272934416,1.05969844974
+315,5.250000000,pose2_to_pose3_retreat,0.597215052173,0.0100546467493,1.06002919723,0.567785781331,0.0187273725408,1.05969848842
+316,5.266666667,pose2_to_pose3_retreat,0.596320272883,0.0100544643358,1.06002892428,0.566891004804,0.018727199725,1.05969822127
+317,5.283333333,pose2_to_pose3_retreat,0.595453638508,0.0100545846831,1.06002907791,0.566024370365,0.0187273200121,1.05969837909
+318,5.300000000,pose2_to_pose3_retreat,0.594610474529,0.0100544603092,1.06002900588,0.565181206391,0.0187271956156,1.05969830603
+319,5.316666667,pose2_to_pose3_retreat,0.593781067601,0.0100545080738,1.06002915644,0.564351798439,0.0187272394771,1.05969844481
+320,5.333333333,pose2_to_pose3_retreat,0.592958508248,0.0100544963248,1.06002911948,0.563529238731,0.0187272266275,1.05969841055
+321,5.350000000,pose2_to_pose3_retreat,0.592126833921,0.0100546631024,1.06002891213,0.562697563566,0.0187273907378,1.05969820772
+322,5.366666667,pose2_to_pose3_retreat,0.591287514244,0.0100548071765,1.06002925176,0.561858242312,0.0187275295381,1.05969854926
+323,5.383333333,pose2_to_pose3_retreat,0.590438697959,0.0100544620472,1.06002928276,0.561009428959,0.0187271938503,1.05969856697
+324,5.400000000,pose2_to_pose3_retreat,0.589601064935,0.0100543857433,1.06002919251,0.560171798077,0.0187271247745,1.05969847558
+325,5.416666667,pose2_to_pose3_retreat,0.588790273076,0.0100545228918,1.06002928368,0.559361003105,0.0187272516776,1.05969857516
+326,5.433333333,pose2_to_pose3_retreat,0.588010370096,0.0100545917986,1.06002942463,0.558581099928,0.018727319379,1.05969870188
+327,5.450000000,pose2_to_pose3_retreat,0.587266637222,0.0100546502811,1.06002917151,0.557837366496,0.0187273763545,1.05969845883
+328,5.466666667,pose2_to_pose3_retreat,0.586559859752,0.0100545358825,1.06002929655,0.557130590812,0.0187272678996,1.05969858069
+329,5.483333333,pose2_to_pose3_retreat,0.585873412916,0.0100546859036,1.06002928069,0.556444142066,0.0187274115652,1.05969856807
+330,5.500000000,pose2_to_pose3_retreat,0.585190443235,0.0100546880985,1.0600289283,0.55576117109,0.0187274093807,1.05969821623
+331,5.516666667,pose2_to_pose3_retreat,0.584508821816,0.0100544937635,1.06002888641,0.555079553201,0.018727227338,1.05969818235
+332,5.533333333,pose2_to_pose3_retreat,0.58383155,0.0100545570105,1.06002902589,0.554402281797,0.0187272918044,1.0596983161
+333,5.550000000,pose2_to_pose3_retreat,0.58318189197,0.0100546671403,1.06002906986,0.553752621027,0.0187273925116,1.05969835767
+334,5.566666667,pose2_to_pose3_retreat,0.582564396906,0.0100545710183,1.06002930419,0.553135126723,0.0187272988998,1.05969859047
+335,5.583333333,pose2_to_pose3_retreat,0.581986686304,0.0100546899353,1.06002939696,0.55255741651,0.0187274190478,1.05969868169
+336,5.600000000,pose2_to_pose3_retreat,0.581442409539,0.0100546513796,1.06002920151,0.552013138755,0.01872737758,1.05969849687
+337,5.616666667,pose2_to_pose3_retreat,0.58093113295,0.0100544747027,1.06002892906,0.551501865186,0.0187272111356,1.05969822387
+338,5.633333333,pose2_to_pose3_retreat,0.580447211088,0.0100546615634,1.06002927046,0.551017941406,0.0187273912296,1.05969855864
+339,5.650000000,pose2_to_pose3_retreat,0.57999183832,0.0100545626665,1.06002913656,0.55056256789,0.0187272899519,1.05969842941
+340,5.666666667,pose2_to_pose3_retreat,0.579568879474,0.0100545762114,1.06002915389,0.550139609214,0.0187273040447,1.05969844574
+341,5.683333333,pose2_to_pose3_retreat,0.579174132852,0.0100546950261,1.06002911995,0.549744862664,0.0187274233881,1.05969841885
+342,5.700000000,pose2_to_pose3_retreat,0.578804992745,0.010054628576,1.06002901261,0.549375722435,0.0187273565483,1.05969831169
+343,5.716666667,pose2_to_pose3_retreat,0.578455620816,0.0100545125712,1.06002903461,0.549026353992,0.0187272519932,1.05969832409
+344,5.733333333,pose2_to_pose3_retreat,0.578126051319,0.0100545990492,1.06002906387,0.548696780828,0.0187273257629,1.05969834685
+345,5.750000000,pose2_to_pose3_retreat,0.57781585215,0.010054549409,1.06002891295,0.548386581899,0.0187272773628,1.05969820713
+346,5.766666667,pose2_to_pose3_retreat,0.577527123661,0.0100546939464,1.06002913429,0.548097852921,0.0187274202603,1.05969842886
+347,5.783333333,pose2_to_pose3_retreat,0.577265062309,0.0100546628202,1.06002904848,0.547835791345,0.0187273881742,1.05969833789
+348,5.800000000,pose2_to_pose3_retreat,0.577028664755,0.0100546185235,1.06002937975,0.54759939482,0.0187273473527,1.05969866841
+349,5.816666667,pose2_to_pose3_retreat,0.576819314141,0.010054525006,1.06002891333,0.547390044264,0.0187272543891,1.05969821145
+350,5.833333333,pose2_to_pose3_retreat,0.576633805777,0.0100545142398,1.06002957743,0.547204537717,0.01872724878,1.0596988491
+351,5.850000000,pose2_to_pose3_retreat,0.576471032825,0.0100546236808,1.06002937116,0.547041763004,0.0187273527813,1.05969865692
+352,5.866666667,pose2_to_pose3_retreat,0.5763293652,0.0100545418099,1.06002907051,0.546900096567,0.0187272750372,1.0596983588
+353,5.883333333,pose2_to_pose3_retreat,0.576206920201,0.0100545514154,1.06002926533,0.546777653623,0.0187272915849,1.05969855292
+354,5.900000000,pose2_to_pose3_retreat,0.576103065336,0.0100546675063,1.06002911024,0.546673795678,0.0187273973751,1.05969840347
+355,5.916666667,pose2_to_pose3_retreat,0.576015289035,0.0100545717835,1.06002896721,0.546586018083,0.0187272969716,1.05969825378
+356,5.933333333,pose2_to_pose3_retreat,0.575942846988,0.0100546762003,1.06002917581,0.546513575145,0.0187273982869,1.05969846069
+357,5.950000000,pose2_to_pose3_retreat,0.57588313728,0.0100547023545,1.06002920566,0.546453866662,0.0187274286867,1.05969849284
+358,5.966666667,pose2_to_pose3_retreat,0.575835524428,0.0100546703238,1.06002940228,0.546406253632,0.0187273957879,1.05969867986
+359,5.983333333,pose2_to_pose3_retreat,0.575798386455,0.0100543670081,1.06002903387,0.546369119653,0.018727106441,1.05969832317
+360,6.000000000,pose2_to_pose3_retreat,0.575770638536,0.0100544888318,1.06002902718,0.546341370166,0.0187272231018,1.05969831966
+361,6.016666667,pose2_to_pose3_retreat,0.575751209404,0.010054496217,1.06002899893,0.546321940389,0.0187272284991,1.05969829673
+362,6.033333333,pose2_to_pose3_retreat,0.575737574322,0.0100544268858,1.06002920747,0.546308306131,0.0187271616984,1.05969849835
+363,6.050000000,pose2_to_pose3_retreat,0.575728581596,0.0100544958447,1.06002929126,0.546299312708,0.0187272280516,1.05969857587
+364,6.066666667,pose2_to_pose3_retreat,0.575721720261,0.0100545796487,1.06002926375,0.546292450356,0.0187273082954,1.05969854546
+365,6.083333333,pose2_to_pose3_retreat,0.575717121261,0.0100545108652,1.06002908159,0.546287851619,0.0187272406191,1.05969836898
+366,6.100000000,pose2_to_pose3_retreat,0.575714648876,0.0100545468017,1.06002909878,0.546285378793,0.0187272750048,1.05969838484
+367,6.116666667,pose2_to_pose3_retreat,0.57571342383,0.0100545902316,1.06002914776,0.546284153322,0.0187273169122,1.05969843162
+368,6.133333333,pose2_to_pose3_retreat,0.575712908724,0.010054608493,1.06002916835,0.546283638037,0.0187273345334,1.05969845129
+369,6.150000000,pose2_to_pose3_retreat,0.575712537114,0.0100546216672,1.0600291832,0.546283266299,0.0187273472457,1.05969846548
+370,6.166666667,pose2_to_pose3_retreat,0.575712144251,0.0100546323382,1.06002919828,0.54628287345,0.0187273579707,1.05969848076
+371,6.183333333,pose2_to_pose3_retreat,0.575711868781,0.0100546367885,1.06002920827,0.546282598128,0.0187273629638,1.05969849174
+372,6.200000000,pose2_to_pose3_retreat,0.575711735721,0.0100546389381,1.0600292131,0.54628246514,0.0187273653755,1.05969849704
+373,6.216666667,pose2_to_pose3_retreat,0.575711703598,0.010054639457,1.06002921426,0.546282433035,0.0187273659578,1.05969849832
+374,6.233333333,pose2_to_pose3_retreat,0.57571167303,0.0100546399509,1.06002921537,0.546282402484,0.0187273665118,1.05969849954
+375,6.250000000,pose2_to_pose3_retreat,0.57571165039,0.0100546403166,1.06002921619,0.546282379856,0.0187273669222,1.05969850044
+376,6.266666667,pose2_to_pose3_retreat,0.575711597066,0.0100546411781,1.06002921812,0.54628232656,0.0187273678887,1.05969850256
+377,6.283333333,pose2_to_pose3_retreat,0.575711583095,0.0100546414038,1.06002921863,0.546282312597,0.018727368142,1.05969850312
+378,6.300000000,pose2_to_pose3_retreat,0.575711559495,0.010054641785,1.06002921949,0.54628228901,0.0187273685697,1.05969850406
+379,6.316666667,pose2_to_pose3_retreat,0.57571150384,0.0100546426842,1.0600292215,0.546282233385,0.0187273695785,1.05969850628
+380,6.333333333,pose2_to_pose3_retreat,0.575711338065,0.0100546453623,1.06002922751,0.5462820677,0.0187273725833,1.05969851288
+381,6.350000000,pose2_to_pose3_retreat,0.575711178964,0.0100546479326,1.06002923328,0.546281908685,0.018727375467,1.05969851922
+382,6.366666667,pose2_to_pose3_retreat,0.575710959976,0.0100546514704,1.06002924122,0.546281689815,0.0187273794363,1.05969852794
+383,6.383333333,pose2_to_pose3_retreat,0.575710939408,0.0100546518026,1.06002924197,0.546281669258,0.0187273798091,1.05969852876
+384,6.400000000,pose2_to_pose3_retreat,0.575710769248,0.0100546545516,1.06002924814,0.54628149919,0.0187273828934,1.05969853554
+385,6.416666667,pose2_to_pose3_retreat,0.575710731614,0.0100546551596,1.06002924951,0.546281461576,0.0187273835755,1.05969853704
+386,6.433333333,pose2_to_pose3_retreat,0.57571055667,0.0100546579858,1.06002925585,0.546281286727,0.0187273867465,1.05969854401
+387,6.450000000,pose2_to_pose3_retreat,0.575709983022,0.0100546966323,1.0600292192,0.546280712013,0.018727421877,1.05969851005
+388,6.466666667,pose2_to_pose3_retreat,0.575709714565,0.0100547300778,1.06002917201,0.546280442337,0.0187274512481,1.05969846446
+389,6.483333333,pose2_to_pose3_retreat,0.575709708008,0.0100547308947,1.06002917086,0.54628043575,0.0187274519654,1.05969846335
+390,6.500000000,pose2_to_pose3_retreat,0.575709637455,0.0100547396845,1.06002915846,0.546280364877,0.0187274596844,1.05969845137
+391,6.516666667,pose2_to_pose3_retreat,0.575709475736,0.0100547286329,1.06002913557,0.54628020297,0.0187274480241,1.05969842921
+392,6.533333333,pose2_to_pose3_retreat,0.575709317849,0.0100546174055,1.06002913105,0.54628004666,0.0187273421439,1.05969842467
+393,6.550000000,pose2_to_pose3_retreat,0.575709247272,0.0100547246969,1.06002925179,0.546279975108,0.0187274460146,1.05969854244
+394,6.566666667,pose2_to_pose3_retreat,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726

Part2/Obstacle_avoidance/cylinder_0050_20/position_11/depth_03/fem_node.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07ae34a75c2aac5765e365b69b2efa9862e02524c71c627fd61aaf3037fad175
+size 25262135

Part2/Obstacle_avoidance/cylinder_0050_20/position_11/depth_03/simulation_data.csv

@@ -0,0 +1,398 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+1,0.016666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+2,0.033333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+3,0.050000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+4,0.066666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+5,0.083333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+6,0.100000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+7,0.116666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+8,0.133333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+9,0.150000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+10,0.166666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+11,0.183333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+12,0.200000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+13,0.216666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+14,0.233333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+15,0.250000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+16,0.266666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+17,0.283333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+18,0.300000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+19,0.316666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+20,0.333333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+21,0.350000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+22,0.366666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+23,0.383333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+24,0.400000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+25,0.416666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+26,0.433333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+27,0.450000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+28,0.466666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+29,0.483333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+30,0.500000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+31,0.516666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+32,0.533333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+33,0.550000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+34,0.566666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+35,0.583333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+36,0.600000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+37,0.616666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+38,0.633333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+39,0.650000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+40,0.666666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+41,0.683333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+42,0.700000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+43,0.716666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+44,0.733333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+45,0.750000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+46,0.766666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+47,0.783333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+48,0.800000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+49,0.816666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+50,0.833333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+51,0.850000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+52,0.866666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+53,0.883333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+54,0.900000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+55,0.916666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+56,0.933333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+57,0.950000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+58,0.966666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+59,0.983333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+60,1.000000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+61,1.016666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+62,1.033333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+63,1.050000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+64,1.066666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+65,1.083333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+66,1.100000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+67,1.116666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+68,1.133333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+69,1.150000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+70,1.166666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+71,1.183333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+72,1.200000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+73,1.216666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+74,1.233333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+75,1.250000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+76,1.266666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+77,1.283333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+78,1.300000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+79,1.316666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+80,1.333333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+81,1.350000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+82,1.366666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+83,1.383333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+84,1.400000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+85,1.416666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+86,1.433333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+87,1.450000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+88,1.466666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+89,1.483333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+90,1.500000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+91,1.516666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+92,1.533333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+93,1.550000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+94,1.566666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+95,1.583333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+96,1.600000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+97,1.616666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+98,1.633333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+99,1.650000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+100,1.666666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+101,1.683333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+102,1.700000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+103,1.716666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+104,1.733333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+105,1.750000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+106,1.766666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+107,1.783333333,pose1_to_pose2_press,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+108,1.800000000,pose1_to_pose2_press,0.575709453068,0.0100547175325,1.0600291659,0.546280180048,0.018727435816,1.05969845317
+109,1.816666667,pose1_to_pose2_press,0.575709707051,0.0100546954263,1.06002915232,0.546280434657,0.0187274159289,1.05969844205
+110,1.833333333,pose1_to_pose2_press,0.575709910374,0.0100546777296,1.06002914145,0.546280638481,0.0187274000085,1.05969843314
+111,1.850000000,pose1_to_pose2_press,0.575709983353,0.0100546770764,1.06002915148,0.546280711483,0.0187273994316,1.05969844316
+112,1.866666667,pose1_to_pose2_press,0.575710482632,0.0100546858427,1.06002925245,0.546281210552,0.0187274074163,1.05969854238
+113,1.883333333,pose1_to_pose2_press,0.575711799054,0.010054664953,1.06002934612,0.546282527439,0.0187273880234,1.0596986339
+114,1.900000000,pose1_to_pose2_press,0.575715003075,0.0100545420784,1.06002917486,0.54628573414,0.0187272742824,1.05969846373
+115,1.916666667,pose1_to_pose2_press,0.575721868478,0.0100545498319,1.06002933495,0.546292599566,0.0187272819918,1.05969862049
+116,1.933333333,pose1_to_pose2_press,0.575735263336,0.0100544783103,1.06002932621,0.546305996034,0.018727215892,1.05969861061
+117,1.950000000,pose1_to_pose2_press,0.575756885366,0.0100545505879,1.0600290624,0.546327616432,0.0187272827871,1.05969835082
+118,1.966666667,pose1_to_pose2_press,0.575789619373,0.0100546233807,1.06002915502,0.546360349191,0.0187273515879,1.05969844973
+119,1.983333333,pose1_to_pose2_press,0.57583322587,0.0100545787218,1.06002919699,0.546403955564,0.0187273062954,1.05969848603
+120,2.000000000,pose1_to_pose2_press,0.575887779209,0.0100545614974,1.06002929338,0.546458508977,0.0187272891575,1.05969857801
+121,2.016666667,pose1_to_pose2_press,0.575951195468,0.0100545343955,1.06002921429,0.54652192536,0.0187272622174,1.0596984921
+122,2.033333333,pose1_to_pose2_press,0.576023237654,0.0100545344275,1.06002932015,0.546593968867,0.0187272667739,1.05969859895
+123,2.050000000,pose1_to_pose2_press,0.576104445033,0.0100546630516,1.06002930131,0.546675172855,0.0187273840575,1.05969858446
+124,2.066666667,pose1_to_pose2_press,0.576195659433,0.0100545054291,1.06002916084,0.5467663895,0.0187272343217,1.05969845097
+125,2.083333333,pose1_to_pose2_press,0.576302877484,0.0100544765503,1.06002879742,0.546873607096,0.0187272042402,1.05969809645
+126,2.100000000,pose1_to_pose2_press,0.576426962675,0.0100545716095,1.06002894503,0.546997693246,0.0187273026526,1.05969824662
+127,2.116666667,pose1_to_pose2_press,0.576571898591,0.0100546344253,1.06002901213,0.547142628011,0.0187273612682,1.05969830599
+128,2.133333333,pose1_to_pose2_press,0.576736931298,0.0100545600656,1.06002923783,0.54730765987,0.0187272839445,1.05969852938
+129,2.150000000,pose1_to_pose2_press,0.576923051687,0.0100545603108,1.06002919563,0.547493782088,0.0187272901498,1.05969848063
+130,2.166666667,pose1_to_pose2_press,0.577129492055,0.0100545092578,1.06002894315,0.547700222313,0.0187272387352,1.05969823138
+131,2.183333333,pose1_to_pose2_press,0.577357265437,0.010054573261,1.06002885021,0.547927995538,0.0187273028209,1.05969815443
+132,2.200000000,pose1_to_pose2_press,0.577609536559,0.0100546514079,1.06002924368,0.548180266776,0.0187273808638,1.05969853491
+133,2.216666667,pose1_to_pose2_press,0.577886040566,0.010054554542,1.0600290701,0.54845676986,0.0187272805881,1.05969835392
+134,2.233333333,pose1_to_pose2_press,0.578188181359,0.0100545619526,1.06002900926,0.548758911331,0.0187272907138,1.05969830389
+135,2.250000000,pose1_to_pose2_press,0.578511874334,0.0100543558651,1.06002899736,0.549082607179,0.0187270944951,1.05969829502
+136,2.266666667,pose1_to_pose2_press,0.578855539491,0.0100544419047,1.06002944623,0.549426269687,0.0187271707489,1.05969872292
+137,2.283333333,pose1_to_pose2_press,0.579224851398,0.0100545276685,1.06002901234,0.549795582141,0.0187272590665,1.05969830736
+138,2.300000000,pose1_to_pose2_press,0.579617646789,0.0100544339279,1.06002939585,0.550188378508,0.0187271684357,1.05969868545
+139,2.316666667,pose1_to_pose2_press,0.580029949473,0.0100545813775,1.06002943825,0.550600679258,0.0187273090207,1.05969871993
+140,2.333333333,pose1_to_pose2_press,0.58046249982,0.0100545563485,1.06002915916,0.551033228859,0.0187272817187,1.05969844757
+141,2.350000000,pose1_to_pose2_press,0.580917873521,0.0100544591392,1.06002914798,0.551488603841,0.0187271889308,1.0596984382
+142,2.366666667,pose1_to_pose2_press,0.581392674836,0.0100546343287,1.06002911704,0.551963404179,0.0187273611563,1.05969841646
+143,2.383333333,pose1_to_pose2_press,0.581891389061,0.0100546257308,1.06002930557,0.552462117667,0.0187273493016,1.05969858516
+144,2.400000000,pose1_to_pose2_press,0.582429856926,0.010054598994,1.0600291697,0.553000585938,0.0187273242813,1.05969845812
+145,2.416666667,pose1_to_pose2_press,0.583001470796,0.0100545407887,1.06002915023,0.553572200765,0.0187272694431,1.05969844184
+146,2.433333333,pose1_to_pose2_press,0.583597503673,0.0100546285596,1.06002893827,0.554168233827,0.0187273577589,1.0596982276
+147,2.450000000,pose1_to_pose2_press,0.58421146328,0.0100546487937,1.06002902987,0.554782193685,0.018727378843,1.05969831912
+148,2.466666667,pose1_to_pose2_press,0.584841676729,0.0100544783415,1.06002899716,0.555412408094,0.018727211986,1.05969829524
+149,2.483333333,pose1_to_pose2_press,0.585489662439,0.0100545209143,1.06002938134,0.556060392743,0.0187272504156,1.05969866515
+150,2.500000000,pose1_to_pose2_press,0.586160759743,0.0100546881613,1.0600293921,0.556731489628,0.0187274165055,1.05969868289
+151,2.516666667,pose1_to_pose2_press,0.5868654874,0.0100543846267,1.06002904873,0.557436219233,0.0187271195623,1.05969833896
+152,2.533333333,pose1_to_pose2_press,0.587591960648,0.0100544454703,1.06002902767,0.558162690777,0.0187271746278,1.05969831796
+153,2.550000000,pose1_to_pose2_press,0.588329692483,0.0100544438274,1.06002917036,0.558900425589,0.0187271828264,1.05969845378
+154,2.566666667,pose1_to_pose2_press,0.589066883943,0.0100547376727,1.06002913417,0.559637613197,0.0187274641078,1.05969843092
+155,2.583333333,pose1_to_pose2_press,0.589803455892,0.0100546744272,1.06002924604,0.560374186285,0.0187274046549,1.05969854091
+156,2.600000000,pose1_to_pose2_press,0.590553553328,0.0100545997488,1.06002912604,0.561124282829,0.0187273271093,1.05969842504
+157,2.616666667,pose1_to_pose2_press,0.591325448359,0.0100546269851,1.06002911975,0.561896178156,0.0187273552825,1.05969841706
+158,2.633333333,pose1_to_pose2_press,0.592129188993,0.0100545783548,1.06002913507,0.562699919568,0.0187273091289,1.05969842807
+159,2.650000000,pose1_to_pose2_press,0.5929567755,0.0100545721602,1.06002916359,0.563527506151,0.0187273030291,1.05969845234
+160,2.666666667,pose1_to_pose2_press,0.593803721075,0.0100546206346,1.06002928827,0.56437445145,0.0187273503812,1.05969857214
+161,2.683333333,pose1_to_pose2_press,0.594651049129,0.0100547256023,1.060029156,0.565221777506,0.0187274487988,1.05969844595
+162,2.700000000,pose1_to_pose2_press,0.595495263015,0.0100545954215,1.06002929554,0.566065992103,0.0187273208356,1.05969858042
+163,2.716666667,pose1_to_pose2_press,0.596317845094,0.0100545662483,1.06002924644,0.566888575743,0.0187272973636,1.05969854196
+164,2.733333333,pose1_to_pose2_press,0.597129122208,0.0100545974267,1.06002915649,0.567699850578,0.0187273206766,1.05969844852
+165,2.750000000,pose1_to_pose2_press,0.597942547674,0.0100546202457,1.06002922754,0.568513277317,0.0187273479661,1.05969852359
+166,2.766666667,pose1_to_pose2_press,0.598761965665,0.0100547177442,1.06002911181,0.569332695396,0.0187274460183,1.05969841467
+167,2.783333333,pose1_to_pose2_press,0.599591712503,0.0100546339843,1.06002916449,0.570162444044,0.0187273678163,1.05969845207
+168,2.800000000,pose1_to_pose2_press,0.600443116634,0.0100546211418,1.06002924447,0.571013847745,0.0187273536334,1.05969853519
+169,2.816666667,pose1_to_pose2_press,0.601307563787,0.0100547510076,1.06002913442,0.571878294069,0.0187274810065,1.05969843356
+170,2.833333333,pose1_to_pose2_press,0.602171875199,0.0100546653257,1.06002940161,0.572742604724,0.0187273921232,1.05969868432
+171,2.850000000,pose1_to_pose2_press,0.603024120298,0.0100547531731,1.06002920629,0.573594846958,0.0187274701686,1.05969848697
+172,2.866666667,pose1_to_pose2_press,0.603854313812,0.0100546628591,1.06002917365,0.574425041983,0.0187273851725,1.05969845939
+173,2.883333333,pose1_to_pose2_press,0.604652019197,0.0100544629524,1.06002929241,0.575222750873,0.0187271970376,1.05969857499
+174,2.900000000,pose1_to_pose2_press,0.605414622069,0.0100545923466,1.06002903988,0.575985351147,0.0187273179454,1.05969833122
+175,2.916666667,pose1_to_pose2_press,0.606167738188,0.0100544826115,1.0600292734,0.576738469646,0.0187272160024,1.05969855736
+176,2.933333333,pose1_to_pose2_press,0.606917728637,0.0100545754491,1.06002904788,0.577488459465,0.0187273070547,1.05969834113
+177,2.950000000,pose1_to_pose2_press,0.607669652754,0.0100546277744,1.06002912614,0.578240382485,0.0187273556445,1.05969841914
+178,2.966666667,pose1_to_pose2_press,0.608426073734,0.0100546507785,1.06002904354,0.578996802799,0.0187273763145,1.05969833472
+179,2.983333333,pose1_to_pose2_press,0.609182033138,0.010054568608,1.0600292929,0.579752764023,0.0187273000569,1.0596985773
+180,3.000000000,pose1_to_pose2_press,0.609908536624,0.0100545363322,1.06002902334,0.580479266815,0.018727265765,1.05969831672
+181,3.016666667,pose1_to_pose2_press,0.610603928938,0.0100544409773,1.06002916534,0.581174660138,0.0187271736595,1.05969845414
+182,3.033333333,pose1_to_pose2_press,0.61125981038,0.0100546921373,1.06002928347,0.581830540419,0.0187274207961,1.05969857023
+183,3.050000000,pose1_to_pose2_press,0.611882982695,0.0100545355817,1.0600291912,0.582453712012,0.0187272615798,1.05969847248
+184,3.066666667,pose1_to_pose2_press,0.612474491237,0.0100545710985,1.06002925654,0.583045221105,0.0187272994668,1.05969855092
+185,3.083333333,pose1_to_pose2_press,0.613035094025,0.0100545114178,1.06002911889,0.583605826584,0.0187272490649,1.05969841645
+186,3.100000000,pose1_to_pose2_press,0.613565944371,0.0100545526962,1.06002902554,0.58413667564,0.0187272858622,1.0596983199
+187,3.116666667,pose1_to_pose2_press,0.614081841188,0.0100545220115,1.0600291533,0.58465257151,0.0187272516812,1.0596984388
+188,3.133333333,pose1_to_pose2_press,0.614586090394,0.0100544452984,1.06002937766,0.585156822118,0.0187271797003,1.05969866113
+189,3.150000000,pose1_to_pose2_press,0.615080654008,0.0100545984391,1.0600292212,0.585651382227,0.0187273210207,1.05969850469
+190,3.166666667,pose1_to_pose2_press,0.615560814462,0.0100545884467,1.06002912911,0.586131543629,0.0187273147292,1.05969842298
+191,3.183333333,pose1_to_pose2_press,0.616020240451,0.0100543977354,1.06002906974,0.586590973487,0.0187271369815,1.05969835408
+192,3.200000000,pose1_to_pose2_press,0.616443110108,0.01005471566,1.06002890866,0.587013838024,0.0187274381124,1.05969820196
+193,3.216666667,pose1_to_pose2_press,0.6168282643,0.0100547252399,1.06002933347,0.587398991435,0.0187274450494,1.05969861965
+194,3.233333333,pose1_to_pose2_press,0.617178656841,0.0100545575076,1.06002901325,0.58774938615,0.018727285007,1.05969830332
+195,3.250000000,pose1_to_pose2_press,0.617501426228,0.010054434414,1.06002899925,0.588072156665,0.0187271659953,1.0596982888
+196,3.266666667,pose1_to_pose2_press,0.617801169312,0.0100545208846,1.06002911343,0.588371899104,0.0187272503381,1.05969840139
+197,3.283333333,pose1_to_pose2_press,0.6180864666,0.0100546263212,1.06002908626,0.588657195393,0.0187273527779,1.0596983754
+198,3.300000000,pose1_to_pose2_press,0.618358691107,0.0100545553171,1.06002911134,0.588929420811,0.0187272849954,1.05969839798
+199,3.316666667,pose1_to_pose2_press,0.618611368808,0.0100545160994,1.06002914443,0.58918209922,0.0187272484549,1.05969843654
+200,3.333333333,pose1_to_pose2_press,0.618844508712,0.0100545744281,1.06002916994,0.589415239028,0.0187273069121,1.05969846959
+201,3.350000000,pose1_to_pose2_press,0.619055855219,0.0100545726427,1.06002931657,0.589626586091,0.0187273069365,1.05969860972
+202,3.366666667,pose1_to_pose2_press,0.619246519691,0.0100545210325,1.06002924345,0.589817251449,0.0187272583165,1.05969853175
+203,3.383333333,pose1_to_pose2_press,0.619415955519,0.0100545876738,1.06002901797,0.589986686095,0.0187273212946,1.05969831127
+204,3.400000000,pose1_to_pose2_press,0.619569287329,0.0100546473444,1.06002906812,0.590140016083,0.0187273749307,1.05969836136
+205,3.416666667,pose1_to_pose2_press,0.619707345348,0.0100544633191,1.06002921624,0.590278076293,0.0187271981688,1.05969850195
+206,3.433333333,pose1_to_pose2_press,0.619830315741,0.0100545342106,1.06002923828,0.590401045652,0.0187272657634,1.05969852678
+207,3.450000000,pose1_to_pose2_press,0.619938996933,0.0100546323095,1.0600290725,0.59050972423,0.0187273551004,1.05969836181
+208,3.466666667,pose1_to_pose2_press,0.620032204996,0.0100545517134,1.06002912734,0.590602933679,0.01872727923,1.05969840975
+209,3.483333333,pose1_to_pose2_press,0.620110829358,0.0100545848022,1.06002933598,0.59068155823,0.0187273133955,1.05969861948
+210,3.500000000,pose1_to_pose2_press,0.620174413756,0.0100545543256,1.06002916596,0.59074514136,0.0187272787399,1.05969845298
+211,3.516666667,pose1_to_pose2_press,0.620226540301,0.0100545560343,1.06002918352,0.590797268912,0.0187272838657,1.05969847311
+212,3.533333333,pose1_to_pose2_press,0.620268119107,0.0100545870281,1.06002927695,0.59083884962,0.0187273210738,1.05969856589
+213,3.550000000,pose1_to_pose2_press,0.62030060792,0.0100546599462,1.06002927636,0.59087133622,0.0187273861899,1.05969856304
+214,3.566666667,pose1_to_pose2_press,0.620325745566,0.0100545541841,1.06002916518,0.590896476308,0.0187272889666,1.05969845575
+215,3.583333333,pose1_to_pose2_press,0.620345065523,0.0100546115181,1.06002914442,0.590915794318,0.018727339689,1.05969843604
+216,3.600000000,pose1_to_pose2_press,0.620360076492,0.0100546065204,1.06002917091,0.590930806231,0.0187273377205,1.05969845696
+217,3.616666667,pose1_to_pose2_press,0.620371080672,0.0100546371879,1.0600292134,0.590941810277,0.0187273679533,1.05969849886
+218,3.633333333,pose1_to_pose2_press,0.620379078382,0.0100547573644,1.06002925437,0.590949804603,0.0187274769992,1.05969854905
+219,3.650000000,pose1_to_pose2_press,0.620384561566,0.0100546487049,1.06002910092,0.590955288836,0.0187273718596,1.05969839355
+220,3.666666667,pose1_to_pose2_press,0.620387868364,0.0100545598187,1.06002903495,0.590958596899,0.0187272871994,1.05969832547
+221,3.683333333,pose1_to_pose2_press,0.620389640368,0.0100544760361,1.06002904305,0.59096037057,0.0187272089719,1.05969833111
+222,3.700000000,pose1_to_pose2_press,0.620390274536,0.0100544460519,1.06002904595,0.590961005334,0.0187271809758,1.05969833312
+223,3.716666667,pose1_to_pose2_press,0.62039093696,0.0100544147317,1.06002904898,0.590961668381,0.0187271517322,1.05969833523
+224,3.733333333,pose1_to_pose2_press,0.620391744486,0.0100543765508,1.06002905267,0.590962476667,0.0187271160829,1.0596983378
+225,3.750000000,pose1_to_pose2_press,0.620392393413,0.0100544106914,1.06002902446,0.590963125123,0.0187271487013,1.05969831137
+226,3.766666667,pose1_to_pose2_press,0.620392956843,0.0100544609779,1.06002899003,0.590963687799,0.0187271965336,1.05969827936
+227,3.783333333,pose1_to_pose2_press,0.620393454473,0.0100545053918,1.06002895962,0.590964184764,0.0187272387798,1.05969825109
+228,3.800000000,pose1_to_pose2_press,0.620393644192,0.0100545223244,1.06002894803,0.590964374229,0.018727254886,1.05969824031
+229,3.816666667,pose1_to_pose2_press,0.620393727781,0.0100545297848,1.06002894292,0.590964457706,0.0187272619823,1.05969823556
+230,3.833333333,pose1_to_pose2_press,0.620393819558,0.0100545379759,1.06002893731,0.59096454936,0.0187272697737,1.05969823035
+231,3.850000000,pose1_to_pose2_press,0.620393860351,0.0100545416167,1.06002893482,0.590964590098,0.0187272732368,1.05969822803
+232,3.866666667,pose1_to_pose2_press,0.620394082846,0.0100545614746,1.06002892122,0.590964812296,0.0187272921255,1.05969821539
+233,3.883333333,pose1_to_pose2_press,0.620394396837,0.0100545894985,1.06002890204,0.590965125867,0.0187273187817,1.05969819755
+234,3.900000000,pose1_to_pose2_press,0.620394659289,0.0100546060236,1.0600288953,0.590965388106,0.018727334611,1.0596981914
+235,3.916666667,pose1_to_pose2_press,0.620394929536,0.0100545959406,1.06002892491,0.590965658675,0.0187273255689,1.05969821951
+236,3.933333333,pose1_to_pose2_press,0.620395206946,0.0100545855904,1.0600289553,0.590965936415,0.0187273162871,1.05969824836
+237,3.950000000,pose1_to_pose2_press,0.62039559441,0.010054571134,1.06002899775,0.590966324341,0.018727303323,1.05969828866
+238,3.966666667,pose1_to_pose2_press,0.620396011752,0.0100545637903,1.06002907987,0.590966741671,0.0187272958926,1.05969836942
+239,3.983333333,pose1_to_pose2_press,0.620396236424,0.0100545699399,1.06002916879,0.590966965715,0.0187272999151,1.05969845877
+240,4.000000000,pose1_to_pose2_press,0.620396429931,0.0100545752364,1.06002924536,0.59096715868,0.0187273033796,1.05969853572
+241,4.016666667,pose1_to_pose2_press,0.620396505479,0.0100545555258,1.06002907653,0.590967235618,0.0187272883754,1.05969836647
+242,4.033333333,pose1_to_pose2_press,0.620396507782,0.0100545533671,1.06002905717,0.590967238077,0.018727286748,1.05969834705
+243,4.050000000,pose1_to_pose2_press,0.620396568258,0.0100543528938,1.06002905497,0.590967300215,0.0187270916538,1.05969833784
+244,4.066666667,pose2_hold,0.620396568258,0.0100543528938,1.06002905497,0.590967300221,0.0187270916482,1.05969833784
+245,4.083333333,pose2_hold,0.620396568258,0.0100543528938,1.06002905497,0.590967300221,0.0187270916483,1.05969833784
+246,4.100000000,pose2_hold,0.620396568258,0.0100543528938,1.06002905497,0.590967300221,0.0187270916482,1.05969833784
+247,4.116666667,pose2_hold,0.620396568258,0.0100543528938,1.06002905497,0.590967300221,0.0187270916482,1.05969833784
+248,4.133333333,pose2_hold,0.620396568258,0.0100543528938,1.06002905497,0.590967300222,0.0187270916482,1.05969833784
+249,4.150000000,pose2_hold,0.620396568258,0.0100543528938,1.06002905497,0.590967300222,0.0187270916483,1.05969833784
+250,4.166666667,pose2_hold,0.620396568258,0.0100543528938,1.06002905497,0.590967300221,0.0187270916476,1.05969833784
+251,4.183333333,pose2_hold,0.620396568258,0.0100543528938,1.06002905497,0.590967300222,0.0187270916477,1.05969833784
+252,4.200000000,pose2_hold,0.620396568258,0.0100543528938,1.06002905497,0.590967300223,0.0187270916469,1.05969833784
+253,4.216666667,pose2_hold,0.620396568258,0.0100543528938,1.06002905497,0.590967300223,0.0187270916467,1.05969833784
+254,4.233333333,pose2_hold,0.620396568258,0.0100543528938,1.06002905497,0.590967300221,0.0187270916483,1.05969833784
+255,4.250000000,pose2_hold,0.620396568258,0.0100543528938,1.06002905497,0.590967300221,0.0187270916486,1.05969833784
+256,4.266666667,pose2_hold,0.620396568258,0.0100543528938,1.06002905497,0.590967300223,0.0187270916468,1.05969833784
+257,4.283333333,pose2_hold,0.620396568258,0.0100543528938,1.06002905497,0.590967300221,0.0187270916481,1.05969833784
+258,4.300000000,pose2_hold,0.620396568258,0.0100543528938,1.06002905497,0.590967300221,0.0187270916496,1.05969833784
+259,4.316666667,pose2_hold,0.620396568258,0.0100543528938,1.06002905497,0.590967300221,0.0187270916496,1.05969833784
+260,4.333333333,pose2_hold,0.620396568258,0.0100543528938,1.06002905497,0.590967300221,0.0187270916494,1.05969833784
+261,4.350000000,pose2_hold,0.620396568258,0.0100543528938,1.06002905497,0.590967300221,0.0187270916491,1.05969833784
+262,4.366666667,pose2_to_pose3_retreat,0.620396568258,0.0100543528938,1.06002905497,0.590967300221,0.0187270916486,1.05969833784
+263,4.383333333,pose2_to_pose3_retreat,0.620396560157,0.0100543727409,1.06002906971,0.590967291799,0.0187271104329,1.05969835331
+264,4.400000000,pose2_to_pose3_retreat,0.620396554684,0.0100543861493,1.06002907966,0.59096728611,0.0187271231233,1.05969836375
+265,4.416666667,pose2_to_pose3_retreat,0.62039647282,0.0100545102105,1.06002913528,0.590967202441,0.0187272412593,1.05969842471
+266,4.433333333,pose2_to_pose3_retreat,0.620396416225,0.010054536782,1.06002910153,0.590967145711,0.0187272674599,1.0596983931
+267,4.450000000,pose2_to_pose3_retreat,0.62039596598,0.01005474295,1.06002883866,0.590966694422,0.0187274707325,1.05969814686
+268,4.466666667,pose2_to_pose3_retreat,0.620394327806,0.010054592014,1.06002902071,0.590965057256,0.0187273226373,1.05969831443
+269,4.483333333,pose2_to_pose3_retreat,0.620389070857,0.0100545181786,1.06002923804,0.590959801244,0.018727251755,1.05969852566
+270,4.500000000,pose2_to_pose3_retreat,0.620377213177,0.0100546536313,1.06002926215,0.590947942015,0.0187273819796,1.05969855037
+271,4.516666667,pose2_to_pose3_retreat,0.620355443727,0.0100546466573,1.06002901108,0.590926172582,0.0187273748474,1.05969829689
+272,4.533333333,pose2_to_pose3_retreat,0.620321955654,0.010054537785,1.06002893404,0.590892684109,0.018727264926,1.05969822384
+273,4.550000000,pose2_to_pose3_retreat,0.620276318189,0.0100545663585,1.06002909226,0.590847048296,0.0187272991084,1.0596983853
+274,4.566666667,pose2_to_pose3_retreat,0.620219383165,0.0100545382967,1.06002923331,0.590790111939,0.0187272663559,1.05969852413
+275,4.583333333,pose2_to_pose3_retreat,0.620151995128,0.0100546663221,1.06002914536,0.590722723225,0.0187273917057,1.05969843308
+276,4.600000000,pose2_to_pose3_retreat,0.620074865359,0.0100546712889,1.06002919464,0.590645593303,0.0187273965353,1.05969848627
+277,4.616666667,pose2_to_pose3_retreat,0.619986158947,0.0100543795827,1.06002926656,0.590556891052,0.0187271187522,1.05969855613
+278,4.633333333,pose2_to_pose3_retreat,0.619883023871,0.0100545757236,1.06002926422,0.590453753459,0.0187273062151,1.05969855469
+279,4.650000000,pose2_to_pose3_retreat,0.619763959891,0.0100545443353,1.06002918435,0.590334690587,0.0187272785208,1.05969847584
+280,4.666666667,pose2_to_pose3_retreat,0.619621815292,0.0100545967355,1.06002907086,0.590192545987,0.0187273307503,1.05969836121
+281,4.683333333,pose2_to_pose3_retreat,0.619458358616,0.010054515654,1.06002913349,0.590029090004,0.0187272516944,1.05969841879
+282,4.700000000,pose2_to_pose3_retreat,0.619273947282,0.0100545883705,1.06002915549,0.589844676416,0.0187273168229,1.05969844548
+283,4.716666667,pose2_to_pose3_retreat,0.619068512744,0.0100546065701,1.06002914907,0.589639242362,0.0187273364833,1.05969844063
+284,4.733333333,pose2_to_pose3_retreat,0.618840544403,0.0100545492703,1.06002916953,0.589411273806,0.0187272781308,1.05969845629
+285,4.750000000,pose2_to_pose3_retreat,0.618593928674,0.0100546232611,1.06002893706,0.589164656921,0.0187273486156,1.05969823866
+286,4.766666667,pose2_to_pose3_retreat,0.618328067128,0.0100546976229,1.0600291932,0.588898795909,0.0187274244204,1.05969849036
+287,4.783333333,pose2_to_pose3_retreat,0.618038812317,0.0100545795023,1.06002931754,0.588609541064,0.0187273056124,1.05969860679
+288,4.800000000,pose2_to_pose3_retreat,0.617728199098,0.0100545217746,1.06002920611,0.588298928449,0.0187272496397,1.05969849456
+289,4.816666667,pose2_to_pose3_retreat,0.61739485477,0.0100545744484,1.0600290844,0.587965584785,0.0187273044369,1.05969837528
+290,4.833333333,pose2_to_pose3_retreat,0.617037166959,0.0100545500162,1.06002908495,0.587607897711,0.0187272823004,1.05969837611
+291,4.850000000,pose2_to_pose3_retreat,0.616654287751,0.0100545333641,1.06002915031,0.58722501868,0.0187272659955,1.05969844142
+292,4.866666667,pose2_to_pose3_retreat,0.616247067895,0.0100545423433,1.06002904756,0.586817798198,0.018727272716,1.05969834181
+293,4.883333333,pose2_to_pose3_retreat,0.615815120691,0.0100544997478,1.06002897197,0.586385850954,0.0187272297582,1.05969826596
+294,4.900000000,pose2_to_pose3_retreat,0.615352215292,0.0100545866302,1.06002907928,0.585922945021,0.0187273145634,1.05969837155
+295,4.916666667,pose2_to_pose3_retreat,0.614856398514,0.0100546032454,1.06002896307,0.585427128626,0.0187273323817,1.05969825586
+296,4.933333333,pose2_to_pose3_retreat,0.614323026521,0.0100546633445,1.0600291107,0.584893754565,0.0187273854378,1.05969840369
+297,4.950000000,pose2_to_pose3_retreat,0.613756659351,0.0100545468314,1.06002904183,0.584327389571,0.0187272763751,1.05969833742
+298,4.966666667,pose2_to_pose3_retreat,0.613160716523,0.0100546445983,1.0600291728,0.583731444882,0.0187273674345,1.059698458
+299,4.983333333,pose2_to_pose3_retreat,0.612542935643,0.0100546297833,1.06002908481,0.583113664827,0.0187273556866,1.05969837628
+300,5.000000000,pose2_to_pose3_retreat,0.611908485053,0.0100546764916,1.06002894557,0.582479213023,0.0187273982148,1.05969823612
+301,5.016666667,pose2_to_pose3_retreat,0.611257284288,0.0100546451839,1.06002904397,0.581828013554,0.0187273714742,1.05969833899
+302,5.033333333,pose2_to_pose3_retreat,0.610582313103,0.0100545374829,1.06002919621,0.5811530435,0.0187272673,1.0596984828
+303,5.050000000,pose2_to_pose3_retreat,0.609879739649,0.010054501826,1.06002927615,0.58045047102,0.0187272348124,1.0596985593
+304,5.066666667,pose2_to_pose3_retreat,0.609147362221,0.0100545637723,1.06002919397,0.57971809235,0.0187272926854,1.05969847976
+305,5.083333333,pose2_to_pose3_retreat,0.60838796982,0.0100544732194,1.06002928336,0.578958699399,0.0187272001804,1.05969856555
+306,5.100000000,pose2_to_pose3_retreat,0.607605310449,0.0100544908217,1.06002911407,0.578176042362,0.0187272260797,1.05969840647
+307,5.116666667,pose2_to_pose3_retreat,0.606798429992,0.0100545187956,1.0600290255,0.577369161202,0.0187272516,1.0596983169
+308,5.133333333,pose2_to_pose3_retreat,0.605961051172,0.0100546248536,1.06002897902,0.576531782043,0.0187273565769,1.05969827432
+309,5.150000000,pose2_to_pose3_retreat,0.605114108112,0.0100545399531,1.06002904042,0.575684839682,0.0187272737566,1.05969832761
+310,5.166666667,pose2_to_pose3_retreat,0.604263934775,0.0100545478002,1.06002917585,0.574834665342,0.0187272785252,1.05969847162
+311,5.183333333,pose2_to_pose3_retreat,0.603408563132,0.0100545414712,1.06002906136,0.573979293444,0.0187272712402,1.05969835467
+312,5.200000000,pose2_to_pose3_retreat,0.60255589491,0.0100544466742,1.06002913726,0.573126626814,0.0187271817999,1.05969842931
+313,5.216666667,pose2_to_pose3_retreat,0.601712589324,0.0100545480627,1.06002912445,0.572283319821,0.0187272785534,1.05969842038
+314,5.233333333,pose2_to_pose3_retreat,0.600856240192,0.0100546291858,1.06002917213,0.571426970402,0.018727358276,1.05969845708
+315,5.250000000,pose2_to_pose3_retreat,0.599977687409,0.0100546010301,1.06002920375,0.570548417644,0.0187273304899,1.05969849529
+316,5.266666667,pose2_to_pose3_retreat,0.599072510892,0.0100545521541,1.06002932626,0.569643242176,0.0187272851037,1.05969861589
+317,5.283333333,pose2_to_pose3_retreat,0.598143635847,0.0100545601557,1.06002914905,0.568714366667,0.0187272915973,1.05969844058
+318,5.300000000,pose2_to_pose3_retreat,0.597215763394,0.010054594053,1.06002919089,0.567786492497,0.018727319659,1.0596984824
+319,5.316666667,pose2_to_pose3_retreat,0.596302906868,0.0100545511853,1.06002921835,0.566873635844,0.0187272763358,1.05969850889
+320,5.333333333,pose2_to_pose3_retreat,0.595422204961,0.0100544972473,1.06002911447,0.565992935111,0.0187272261816,1.05969839973
+321,5.350000000,pose2_to_pose3_retreat,0.594572952808,0.0100544424965,1.06002896651,0.565143685178,0.0187271792478,1.0596982592
+322,5.366666667,pose2_to_pose3_retreat,0.593749149399,0.0100544587641,1.06002898969,0.564319882187,0.0187271970413,1.05969828542
+323,5.383333333,pose2_to_pose3_retreat,0.592926247724,0.0100546074392,1.06002928854,0.563496978473,0.0187273381427,1.05969856695
+324,5.400000000,pose2_to_pose3_retreat,0.592096016663,0.0100545916866,1.06002910937,0.562666747122,0.0187273217588,1.05969839648
+325,5.416666667,pose2_to_pose3_retreat,0.591245713677,0.0100544914252,1.06002891261,0.561816444142,0.0187272218835,1.05969820918
+326,5.433333333,pose2_to_pose3_retreat,0.590391316926,0.0100545686703,1.06002901221,0.560962047315,0.0187272987789,1.05969830628
+327,5.450000000,pose2_to_pose3_retreat,0.589542335442,0.0100545255131,1.0600290499,0.560113066766,0.0187272587607,1.05969834303
+328,5.466666667,pose2_to_pose3_retreat,0.588727327885,0.0100545750037,1.06002913235,0.55929805847,0.0187273057817,1.05969842647
+329,5.483333333,pose2_to_pose3_retreat,0.587952713855,0.0100544547459,1.0600291488,0.558523445105,0.0187271876424,1.05969843927
+330,5.500000000,pose2_to_pose3_retreat,0.587215637899,0.0100544512915,1.06002918433,0.557786370184,0.0187271877412,1.05969847581
+331,5.516666667,pose2_to_pose3_retreat,0.586508069316,0.0100545520428,1.06002919921,0.557078799539,0.018727281332,1.05969848633
+332,5.533333333,pose2_to_pose3_retreat,0.585819931664,0.0100544879675,1.0600289379,0.556390663057,0.0187272215583,1.05969823363
+333,5.550000000,pose2_to_pose3_retreat,0.585131930781,0.0100546422136,1.06002917882,0.555702660529,0.0187273698749,1.0596984654
+334,5.566666667,pose2_to_pose3_retreat,0.584441158985,0.0100545580882,1.06002916647,0.55501189035,0.0187272912775,1.05969845429
+335,5.583333333,pose2_to_pose3_retreat,0.583769318027,0.0100546191311,1.06002914309,0.554340047878,0.0187273475653,1.05969844069
+336,5.600000000,pose2_to_pose3_retreat,0.583123282578,0.0100545750544,1.06002923197,0.553694012972,0.0187273050734,1.05969852263
+337,5.616666667,pose2_to_pose3_retreat,0.582515640899,0.0100545062288,1.06002916027,0.553086371441,0.0187272366484,1.05969844836
+338,5.633333333,pose2_to_pose3_retreat,0.581942909027,0.0100545150066,1.06002911686,0.552513638924,0.018727243306,1.059698407
+339,5.650000000,pose2_to_pose3_retreat,0.581403851244,0.0100545363628,1.06002902471,0.551974581564,0.0187272661681,1.05969831708
+340,5.666666667,pose2_to_pose3_retreat,0.580891665476,0.0100545385355,1.06002901902,0.551462396206,0.0187272695224,1.05969830512
+341,5.683333333,pose2_to_pose3_retreat,0.580407072235,0.0100545628433,1.06002884702,0.550977802756,0.0187272935492,1.05969814423
+342,5.700000000,pose2_to_pose3_retreat,0.579955187084,0.0100545679912,1.0600288242,0.550525917354,0.0187272978401,1.05969812149
+343,5.716666667,pose2_to_pose3_retreat,0.579535346094,0.0100547036258,1.06002909937,0.550106075998,0.0187274321394,1.05969839466
+344,5.733333333,pose2_to_pose3_retreat,0.579147162172,0.0100545500716,1.06002941992,0.549717893395,0.01872728253,1.059698701
+345,5.750000000,pose2_to_pose3_retreat,0.578781214782,0.010054702568,1.06002927325,0.549351944769,0.0187274312496,1.059698565
+346,5.766666667,pose2_to_pose3_retreat,0.578435576516,0.0100546507446,1.06002928244,0.549006307364,0.0187273820766,1.059698567
+347,5.783333333,pose2_to_pose3_retreat,0.578105223216,0.0100546433235,1.06002911609,0.548675952801,0.0187273706457,1.05969840777
+348,5.800000000,pose2_to_pose3_retreat,0.577792189056,0.0100545583508,1.06002889497,0.548362918423,0.0187272851734,1.05969819305
+349,5.816666667,pose2_to_pose3_retreat,0.57750506627,0.0100546145156,1.06002903847,0.548075795352,0.0187273401791,1.05969833168
+350,5.833333333,pose2_to_pose3_retreat,0.577243797817,0.0100545691078,1.06002904326,0.547814529642,0.018727304439,1.05969834599
+351,5.850000000,pose2_to_pose3_retreat,0.57701081972,0.0100545525588,1.06002898185,0.547581550873,0.0187272853468,1.05969827746
+352,5.866666667,pose2_to_pose3_retreat,0.57680400342,0.0100545528683,1.06002927929,0.547374733857,0.0187272829206,1.05969856686
+353,5.883333333,pose2_to_pose3_retreat,0.576623416735,0.010054690919,1.06002930194,0.547194145901,0.0187274167881,1.05969859296
+354,5.900000000,pose2_to_pose3_retreat,0.576464129587,0.0100545954105,1.0600293178,0.54703486027,0.0187273264294,1.05969860889
+355,5.916666667,pose2_to_pose3_retreat,0.576324507866,0.0100545881467,1.06002912959,0.546895237912,0.0187273171332,1.05969842414
+356,5.933333333,pose2_to_pose3_retreat,0.576204618213,0.0100545184308,1.06002913076,0.546775348808,0.0187272492501,1.05969842515
+357,5.950000000,pose2_to_pose3_retreat,0.57610133121,0.010054592639,1.06002922556,0.546672061191,0.0187273212165,1.05969851715
+358,5.966666667,pose2_to_pose3_retreat,0.576014473456,0.0100546693838,1.06002938742,0.546585201438,0.0187273911335,1.05969867812
+359,5.983333333,pose2_to_pose3_retreat,0.575941398056,0.0100545747348,1.06002932221,0.546512129021,0.0187273065279,1.05969861134
+360,6.000000000,pose2_to_pose3_retreat,0.575881532927,0.0100545205475,1.06002917935,0.546452264487,0.0187272541977,1.05969846475
+361,6.016666667,pose2_to_pose3_retreat,0.575834310733,0.0100545797173,1.06002916514,0.546405041324,0.0187273101824,1.05969845236
+362,6.033333333,pose2_to_pose3_retreat,0.575798023669,0.0100546237167,1.06002917203,0.546368753883,0.0187273528939,1.05969845716
+363,6.050000000,pose2_to_pose3_retreat,0.575771599635,0.0100546804006,1.06002914049,0.546342328716,0.018727405766,1.05969842688
+364,6.066666667,pose2_to_pose3_retreat,0.575752443329,0.010054601203,1.06002902203,0.546323173196,0.0187273295289,1.05969831626
+365,6.083333333,pose2_to_pose3_retreat,0.575739894216,0.0100545244447,1.06002922836,0.546310624983,0.0187272556611,1.05969851776
+366,6.100000000,pose2_to_pose3_retreat,0.575730637627,0.0100545359466,1.06002924637,0.546301368261,0.0187272664989,1.05969853008
+367,6.116666667,pose2_to_pose3_retreat,0.575724176575,0.0100545694328,1.06002920497,0.546294906898,0.0187272987689,1.05969848448
+368,6.133333333,pose2_to_pose3_retreat,0.575719680301,0.0100545712915,1.06002919203,0.546290411209,0.0187273026761,1.05969847323
+369,6.150000000,pose2_to_pose3_retreat,0.575716792271,0.0100545728551,1.06002917886,0.546287523516,0.0187273054801,1.05969846266
+370,6.166666667,pose2_to_pose3_retreat,0.57571552499,0.0100545742725,1.06002916346,0.546286256304,0.0187273072927,1.05969845144
+371,6.183333333,pose2_to_pose3_retreat,0.575714759712,0.0100545751285,1.06002915417,0.546285491068,0.0187273083872,1.05969844466
+372,6.200000000,pose2_to_pose3_retreat,0.575714287206,0.0100545756569,1.06002914843,0.546285018589,0.018727309063,1.05969844047
+373,6.216666667,pose2_to_pose3_retreat,0.575714075661,0.0100545758935,1.06002914586,0.546284807055,0.0187273093656,1.05969843859
+374,6.233333333,pose2_to_pose3_retreat,0.575714005668,0.0100545759718,1.060029145,0.546284737066,0.0187273094657,1.05969843797
+375,6.250000000,pose2_to_pose3_retreat,0.575713932002,0.0100545760542,1.06002914411,0.546284663404,0.0187273095711,1.05969843732
+376,6.266666667,pose2_to_pose3_retreat,0.575713773895,0.0100545762311,1.06002914219,0.546284505306,0.0187273097972,1.05969843592
+377,6.283333333,pose2_to_pose3_retreat,0.575713396054,0.0100545766537,1.0600291376,0.546284127485,0.0187273103376,1.05969843257
+378,6.300000000,pose2_to_pose3_retreat,0.575713099987,0.0100545769848,1.060029134,0.546283831435,0.0187273107611,1.05969842995
+379,6.316666667,pose2_to_pose3_retreat,0.575712977579,0.0100545771217,1.06002913251,0.546283709034,0.0187273109362,1.05969842887
+380,6.333333333,pose2_to_pose3_retreat,0.575712944114,0.0100545771591,1.06002913211,0.546283675571,0.018727310984,1.05969842857
+381,6.350000000,pose2_to_pose3_retreat,0.575712708623,0.0100545765447,1.06002914253,0.546283440088,0.0187273104054,1.0596984391
+382,6.366666667,pose2_to_pose3_retreat,0.575712132184,0.010054572435,1.06002920745,0.546282863661,0.0187273062711,1.05969850235
+383,6.383333333,pose2_to_pose3_retreat,0.575711756327,0.0100545697553,1.06002924978,0.546282487811,0.0187273035755,1.05969854359
+384,6.400000000,pose2_to_pose3_retreat,0.5757117446,0.0100545696717,1.0600292511,0.546282476085,0.0187273034914,1.05969854488
+385,6.416666667,pose2_to_pose3_retreat,0.575711625298,0.0100545688211,1.06002926454,0.546282356786,0.0187273026358,1.05969855797
+386,6.433333333,pose2_to_pose3_retreat,0.575711388779,0.0100545671348,1.06002929118,0.546282120271,0.0187273009395,1.05969858392
+387,6.450000000,pose2_to_pose3_retreat,0.575710973903,0.0100545641769,1.0600293379,0.546281705403,0.018727297964,1.05969862944
+388,6.466666667,pose2_to_pose3_retreat,0.575710644205,0.0100545618263,1.06002937504,0.546281375712,0.0187272955994,1.05969866562
+389,6.483333333,pose2_to_pose3_retreat,0.575710603791,0.0100545625994,1.06002937847,0.546281335274,0.0187272962897,1.05969866892
+390,6.500000000,pose2_to_pose3_retreat,0.575710494394,0.0100545816239,1.06002936996,0.546281225437,0.0187273137973,1.05969865984
+391,6.516666667,pose2_to_pose3_retreat,0.57571022199,0.0100546289964,1.06002934875,0.546280951936,0.0187273573923,1.05969863722
+392,6.533333333,pose2_to_pose3_retreat,0.5757099505,0.01005467621,1.06002932761,0.546280679352,0.0187274008411,1.05969861468
+393,6.550000000,pose2_to_pose3_retreat,0.575709803098,0.010054701844,1.06002931613,0.546280531356,0.018727424431,1.05969860244
+394,6.566666667,pose2_to_pose3_retreat,0.575709659899,0.010054726747,1.06002930498,0.546280387581,0.0187274473483,1.05969859055
+395,6.583333333,pose2_to_pose3_retreat,0.57570943682,0.0100546641994,1.06002921492,0.546280165186,0.01872738727,1.05969850438
+396,6.600000000,pose2_to_pose3_retreat,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726

Part2/Obstacle_avoidance/cylinder_0050_20/position_11/depth_04/fem_node.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:16e8e638ebeaf0379a514ac208899078ebc883ca86124a84fd6daa025796e2d1
+size 25385780

Part2/Obstacle_avoidance/cylinder_0050_20/position_11/depth_04/simulation_data.csv

@@ -0,0 +1,400 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+1,0.016666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+2,0.033333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+3,0.050000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+4,0.066666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+5,0.083333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+6,0.100000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+7,0.116666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+8,0.133333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+9,0.150000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+10,0.166666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+11,0.183333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+12,0.200000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+13,0.216666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+14,0.233333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+15,0.250000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+16,0.266666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+17,0.283333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+18,0.300000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+19,0.316666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+20,0.333333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+21,0.350000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+22,0.366666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+23,0.383333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+24,0.400000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+25,0.416666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+26,0.433333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+27,0.450000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+28,0.466666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+29,0.483333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+30,0.500000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+31,0.516666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+32,0.533333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+33,0.550000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+34,0.566666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+35,0.583333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+36,0.600000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+37,0.616666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+38,0.633333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+39,0.650000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+40,0.666666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+41,0.683333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+42,0.700000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+43,0.716666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+44,0.733333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+45,0.750000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+46,0.766666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+47,0.783333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+48,0.800000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+49,0.816666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+50,0.833333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+51,0.850000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+52,0.866666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+53,0.883333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+54,0.900000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+55,0.916666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+56,0.933333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+57,0.950000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+58,0.966666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+59,0.983333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+60,1.000000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+61,1.016666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+62,1.033333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+63,1.050000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+64,1.066666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+65,1.083333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+66,1.100000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+67,1.116666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+68,1.133333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+69,1.150000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+70,1.166666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+71,1.183333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+72,1.200000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+73,1.216666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+74,1.233333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+75,1.250000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+76,1.266666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+77,1.283333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+78,1.300000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+79,1.316666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+80,1.333333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+81,1.350000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+82,1.366666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+83,1.383333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+84,1.400000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+85,1.416666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+86,1.433333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+87,1.450000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+88,1.466666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+89,1.483333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+90,1.500000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+91,1.516666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+92,1.533333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+93,1.550000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+94,1.566666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+95,1.583333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+96,1.600000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+97,1.616666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+98,1.633333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+99,1.650000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+100,1.666666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+101,1.683333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+102,1.700000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+103,1.716666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+104,1.733333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+105,1.750000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+106,1.766666667,pose1_to_pose2_press,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+107,1.783333333,pose1_to_pose2_press,0.57570925375,0.0100547336449,1.0600292149,0.54627998123,0.0187274538455,1.05969850799
+108,1.800000000,pose1_to_pose2_press,0.575709268741,0.0100547202409,1.06002913256,0.54627999594,0.0187274396576,1.05969843007
+109,1.816666667,pose1_to_pose2_press,0.575709417572,0.0100547033217,1.06002911329,0.546280144885,0.0187274231197,1.05969841067
+110,1.833333333,pose1_to_pose2_press,0.575709510366,0.0100546953161,1.06002911876,0.546280237813,0.0187274155306,1.05969841508
+111,1.850000000,pose1_to_pose2_press,0.575709842815,0.0100546666351,1.06002913835,0.546280570744,0.0187273883416,1.0596984309
+112,1.866666667,pose1_to_pose2_press,0.575710094892,0.0100546667388,1.06002916453,0.54628082301,0.0187273890386,1.05969845582
+113,1.883333333,pose1_to_pose2_press,0.575711562973,0.0100546819469,1.06002925575,0.546282291661,0.01872740603,1.05969854312
+114,1.900000000,pose1_to_pose2_press,0.575715340747,0.010054647328,1.06002905349,0.546286069144,0.0187273706458,1.05969834662
+115,1.916666667,pose1_to_pose2_press,0.575725279036,0.0100546796596,1.06002924001,0.546296006504,0.0187273997748,1.05969853174
+116,1.933333333,pose1_to_pose2_press,0.57574338855,0.0100545931752,1.06002922307,0.546314118356,0.0187273209333,1.05969850718
+117,1.950000000,pose1_to_pose2_press,0.575771883862,0.0100546876836,1.0600291075,0.546342612792,0.0187274128084,1.05969840045
+118,1.966666667,pose1_to_pose2_press,0.575810614384,0.0100546082375,1.06002917104,0.546381344081,0.0187273357045,1.05969845702
+119,1.983333333,pose1_to_pose2_press,0.575859766657,0.0100546496857,1.06002915417,0.546430496967,0.0187273794457,1.05969844572
+120,2.000000000,pose1_to_pose2_press,0.575918191448,0.0100546861945,1.06002913781,0.546488920416,0.0187274115091,1.05969843217
+121,2.016666667,pose1_to_pose2_press,0.575986662502,0.0100545626767,1.06002923206,0.546557393452,0.0187272944386,1.05969851906
+122,2.033333333,pose1_to_pose2_press,0.57606351326,0.0100545755687,1.06002920689,0.546634244173,0.0187273072847,1.05969849594
+123,2.050000000,pose1_to_pose2_press,0.576149151666,0.0100546657068,1.06002911764,0.546719881672,0.0187273947236,1.05969841648
+124,2.066666667,pose1_to_pose2_press,0.576250338884,0.0100545896509,1.06002914333,0.546821069907,0.0187273219017,1.0596984364
+125,2.083333333,pose1_to_pose2_press,0.57636713839,0.0100545879984,1.0600291446,0.546937869108,0.0187273191792,1.05969843676
+126,2.100000000,pose1_to_pose2_press,0.576501817653,0.0100546476092,1.06002917547,0.547072547906,0.0187273774158,1.05969847293
+127,2.116666667,pose1_to_pose2_press,0.57665687769,0.0100546671182,1.06002921033,0.547227607093,0.0187273937605,1.0596985004
+128,2.133333333,pose1_to_pose2_press,0.57683395305,0.0100546545221,1.06002904586,0.547404681489,0.018727377789,1.05969833313
+129,2.150000000,pose1_to_pose2_press,0.577030497991,0.0100545924473,1.06002904915,0.547601227079,0.0187273179408,1.05969833699
+130,2.166666667,pose1_to_pose2_press,0.577246103163,0.010054556587,1.06002908902,0.54781683329,0.0187272856639,1.05969837838
+131,2.183333333,pose1_to_pose2_press,0.577484401766,0.0100545088966,1.06002909989,0.548055132668,0.0187272405917,1.05969838879
+132,2.200000000,pose1_to_pose2_press,0.577745077034,0.0100545430981,1.06002921543,0.548315808106,0.0187272754492,1.05969850643
+133,2.216666667,pose1_to_pose2_press,0.578030748118,0.0100545464498,1.06002920765,0.548601478746,0.0187272772649,1.05969849779
+134,2.233333333,pose1_to_pose2_press,0.578341879637,0.0100544608031,1.06002915543,0.548912610906,0.0187271937286,1.05969844389
+135,2.250000000,pose1_to_pose2_press,0.578678612884,0.0100545257185,1.06002909,0.549249344102,0.0187272584491,1.05969837782
+136,2.266666667,pose1_to_pose2_press,0.579038765374,0.0100546373623,1.06002896393,0.549609495092,0.0187273650947,1.05969825398
+137,2.283333333,pose1_to_pose2_press,0.579420033193,0.0100545534606,1.06002917788,0.549990764086,0.0187272848638,1.05969845963
+138,2.300000000,pose1_to_pose2_press,0.579822224921,0.0100545089785,1.06002931964,0.550392956186,0.0187272415671,1.05969859936
+139,2.316666667,pose1_to_pose2_press,0.5802416779,0.0100546179323,1.06002903752,0.550812407921,0.0187273468471,1.05969833157
+140,2.333333333,pose1_to_pose2_press,0.580678063124,0.0100546548699,1.06002892723,0.551248791899,0.0187273798693,1.05969822942
+141,2.350000000,pose1_to_pose2_press,0.581138535926,0.010054586921,1.06002921467,0.551709265424,0.0187273139951,1.05969850689
+142,2.366666667,pose1_to_pose2_press,0.581625412292,0.0100545813303,1.06002930548,0.552196142935,0.0187273119286,1.05969858817
+143,2.383333333,pose1_to_pose2_press,0.582146717927,0.0100546152974,1.0600292342,0.55271744789,0.0187273437218,1.0596985203
+144,2.400000000,pose1_to_pose2_press,0.582700272868,0.0100545936965,1.06002908577,0.553271002261,0.0187273204331,1.05969837827
+145,2.416666667,pose1_to_pose2_press,0.583284451116,0.0100545739496,1.06002888052,0.553855180508,0.0187273008969,1.05969817867
+146,2.433333333,pose1_to_pose2_press,0.583889673627,0.0100545145475,1.06002896,0.554460403664,0.0187272435098,1.0596982535
+147,2.450000000,pose1_to_pose2_press,0.584512962656,0.0100545333812,1.06002910004,0.55508369213,0.0187272602724,1.0596983893
+148,2.466666667,pose1_to_pose2_press,0.585155150913,0.0100545732069,1.06002894196,0.55572588032,0.0187273000728,1.05969823647
+149,2.483333333,pose1_to_pose2_press,0.585819676928,0.0100545808174,1.06002905296,0.556390406532,0.0187273081984,1.05969834345
+150,2.500000000,pose1_to_pose2_press,0.586514599846,0.0100545056297,1.06002914303,0.557085331027,0.0187272382799,1.05969843127
+151,2.516666667,pose1_to_pose2_press,0.587232295305,0.0100544933294,1.06002909431,0.557803026534,0.0187272262389,1.05969838509
+152,2.533333333,pose1_to_pose2_press,0.587966918651,0.010054560695,1.06002914227,0.558537648569,0.0187272892277,1.05969843493
+153,2.550000000,pose1_to_pose2_press,0.588703341229,0.0100544936118,1.06002924357,0.559274072732,0.0187272272273,1.05969852842
+154,2.566666667,pose1_to_pose2_press,0.589438914641,0.0100544811737,1.06002914988,0.560009646647,0.0187272165592,1.05969843644
+155,2.583333333,pose1_to_pose2_press,0.590187215197,0.0100545263269,1.06002913115,0.560757946247,0.0187272588087,1.05969842667
+156,2.600000000,pose1_to_pose2_press,0.590954019631,0.0100546431247,1.06002919163,0.561524749308,0.0187273709014,1.0596984859
+157,2.616666667,pose1_to_pose2_press,0.591746125942,0.0100546825605,1.06002907744,0.562316855634,0.0187274103797,1.05969837151
+158,2.633333333,pose1_to_pose2_press,0.592565124438,0.0100546349706,1.06002907677,0.563135854755,0.0187273649039,1.05969837072
+159,2.650000000,pose1_to_pose2_press,0.593410222999,0.0100546215638,1.06002920102,0.563980953076,0.0187273506678,1.05969849451
+160,2.666666667,pose1_to_pose2_press,0.594262847138,0.0100545791038,1.06002919685,0.564833577884,0.0187273104288,1.0596984891
+161,2.683333333,pose1_to_pose2_press,0.595119172332,0.0100544729318,1.06002907796,0.565689903737,0.0187272064732,1.05969836971
+162,2.700000000,pose1_to_pose2_press,0.595962014075,0.0100545230648,1.06002910804,0.56653274474,0.0187272539893,1.05969839709
+163,2.716666667,pose1_to_pose2_press,0.596792560303,0.0100545106713,1.06002909736,0.5673632913,0.0187272426269,1.05969838393
+164,2.733333333,pose1_to_pose2_press,0.597612659607,0.0100546032506,1.06002903951,0.56818338906,0.0187273300576,1.05969832842
+165,2.750000000,pose1_to_pose2_press,0.598434379458,0.0100547171384,1.06002923969,0.569005107764,0.0187274399117,1.05969852495
+166,2.766666667,pose1_to_pose2_press,0.599266665205,0.0100546770033,1.06002935483,0.569837395285,0.0187274058242,1.05969864097
+167,2.783333333,pose1_to_pose2_press,0.600121915384,0.0100545529615,1.06002921852,0.570692646572,0.0187272856546,1.05969850758
+168,2.800000000,pose1_to_pose2_press,0.600996766774,0.0100545452152,1.06002929773,0.571567497085,0.0187272747991,1.05969858341
+169,2.816666667,pose1_to_pose2_press,0.601885091204,0.0100546134411,1.06002928198,0.572455821282,0.0187273422012,1.05969856682
+170,2.833333333,pose1_to_pose2_press,0.602764153561,0.0100545528277,1.06002916125,0.573334884988,0.0187272862864,1.05969844934
+171,2.850000000,pose1_to_pose2_press,0.603621310884,0.010054544749,1.06002925399,0.574192042005,0.0187272770241,1.0596985384
+172,2.866666667,pose1_to_pose2_press,0.60443989464,0.0100545079552,1.06002922053,0.575010625181,0.0187272382118,1.05969850366
+173,2.883333333,pose1_to_pose2_press,0.605219936239,0.0100545495594,1.06002921495,0.57579066614,0.018727277981,1.05969850699
+174,2.900000000,pose1_to_pose2_press,0.605991498806,0.0100546492968,1.0600292749,0.576562228383,0.0187273765209,1.05969856448
+175,2.916666667,pose1_to_pose2_press,0.606762104013,0.0100546298043,1.06002927435,0.577332833281,0.0187273559952,1.05969856432
+176,2.933333333,pose1_to_pose2_press,0.60753771349,0.0100546744245,1.06002929279,0.578108442314,0.0187273989534,1.05969857874
+177,2.950000000,pose1_to_pose2_press,0.608323514574,0.0100547311832,1.06002930149,0.578894243693,0.0187274566669,1.05969858635
+178,2.966666667,pose1_to_pose2_press,0.609113435955,0.0100547032019,1.06002927965,0.579684164813,0.01872742802,1.05969857043
+179,2.983333333,pose1_to_pose2_press,0.609872513311,0.0100546042496,1.06002912553,0.580443243429,0.0187273331983,1.0596984126
+180,3.000000000,pose1_to_pose2_press,0.610598766497,0.0100545978955,1.06002904228,0.581169497268,0.0187273291403,1.0596983315
+181,3.016666667,pose1_to_pose2_press,0.61128868455,0.0100546686966,1.06002904373,0.581859414587,0.0187273973783,1.05969833109
+182,3.033333333,pose1_to_pose2_press,0.611946501087,0.0100546164267,1.06002915237,0.582517230735,0.0187273436151,1.05969843532
+183,3.050000000,pose1_to_pose2_press,0.61256935732,0.0100545404431,1.06002905919,0.583140086971,0.0187272680095,1.05969835192
+184,3.066666667,pose1_to_pose2_press,0.613164547727,0.0100545465031,1.06002918696,0.583735277989,0.0187272760384,1.05969847668
+185,3.083333333,pose1_to_pose2_press,0.613733200559,0.0100545298817,1.06002914464,0.584303931077,0.0187272601875,1.05969843052
+186,3.100000000,pose1_to_pose2_press,0.614281172327,0.0100544905879,1.06002904171,0.584851902867,0.0187272211382,1.05969833026
+187,3.116666667,pose1_to_pose2_press,0.614817618747,0.0100545472259,1.06002915135,0.585388348734,0.0187272760826,1.05969844243
+188,3.133333333,pose1_to_pose2_press,0.61535121455,0.0100546715007,1.06002914523,0.585921943965,0.0187273985172,1.05969843572
+189,3.150000000,pose1_to_pose2_press,0.615868764363,0.0100546778759,1.06002915365,0.586439494587,0.0187274079052,1.05969844578
+190,3.166666667,pose1_to_pose2_press,0.616360466439,0.0100546372245,1.06002919094,0.586931196657,0.0187273676051,1.0596984856
+191,3.183333333,pose1_to_pose2_press,0.616815394723,0.0100546047121,1.06002909673,0.587386124212,0.0187273326183,1.05969838572
+192,3.200000000,pose1_to_pose2_press,0.617232251649,0.0100546617341,1.06002911038,0.587802979625,0.0187273847135,1.05969839754
+193,3.216666667,pose1_to_pose2_press,0.617610521783,0.0100546720128,1.06002922183,0.5881812499,0.0187273957224,1.05969850829
+194,3.233333333,pose1_to_pose2_press,0.617964679615,0.0100545984473,1.06002920607,0.588535408983,0.0187273265568,1.05969849092
+195,3.250000000,pose1_to_pose2_press,0.618304354843,0.0100545405172,1.0600291205,0.588875084398,0.0187272696497,1.05969840799
+196,3.266666667,pose1_to_pose2_press,0.618630186296,0.0100544246317,1.06002923452,0.589200917452,0.0187271593732,1.05969851924
+197,3.283333333,pose1_to_pose2_press,0.618940454392,0.0100545271987,1.06002909024,0.589511183724,0.0187272557936,1.0596983743
+198,3.300000000,pose1_to_pose2_press,0.619231067844,0.0100545189517,1.06002912266,0.589801796317,0.0187272448959,1.05969840523
+199,3.316666667,pose1_to_pose2_press,0.61950089264,0.0100544615838,1.06002900258,0.59007162261,0.0187271930717,1.05969829279
+200,3.333333333,pose1_to_pose2_press,0.619745984314,0.0100545619335,1.06002926491,0.590316715151,0.0187272964182,1.05969855103
+201,3.350000000,pose1_to_pose2_press,0.619970934795,0.0100546667201,1.06002912739,0.590541663884,0.0187273957897,1.05969842233
+202,3.366666667,pose1_to_pose2_press,0.62017629166,0.0100546602489,1.06002905912,0.590747020289,0.0187273880311,1.05969835657
+203,3.383333333,pose1_to_pose2_press,0.620360208757,0.0100546137114,1.06002891041,0.590930937439,0.0187273418759,1.05969820883
+204,3.400000000,pose1_to_pose2_press,0.620522069357,0.0100546430002,1.06002900826,0.591092798188,0.0187273714815,1.05969829913
+205,3.416666667,pose1_to_pose2_press,0.620662737201,0.0100544637299,1.06002897517,0.591233468224,0.0187271997064,1.0596982627
+206,3.433333333,pose1_to_pose2_press,0.620784930697,0.0100545140016,1.06002918283,0.591355660431,0.0187272455234,1.05969846512
+207,3.450000000,pose1_to_pose2_press,0.620890050752,0.0100546474119,1.06002917123,0.591460780674,0.0187273798721,1.05969845938
+208,3.466666667,pose1_to_pose2_press,0.620983100544,0.0100545344127,1.06002930634,0.591553830327,0.0187272662424,1.05969858858
+209,3.483333333,pose1_to_pose2_press,0.621065281467,0.0100547710203,1.06002945514,0.591636008293,0.0187274934009,1.05969873115
+210,3.500000000,pose1_to_pose2_press,0.621136350743,0.0100546260631,1.06002941567,0.591707078497,0.0187273513657,1.05969870156
+211,3.516666667,pose1_to_pose2_press,0.62119637704,0.010054584769,1.06002904569,0.591767105848,0.0187273137136,1.05969834015
+212,3.533333333,pose1_to_pose2_press,0.621244749261,0.0100544127635,1.0600289196,0.591815480328,0.0187271492669,1.0596982107
+213,3.550000000,pose1_to_pose2_press,0.621283419041,0.0100545533601,1.06002899851,0.59185414921,0.0187272870112,1.05969829081
+214,3.566666667,pose1_to_pose2_press,0.621313092877,0.0100545883534,1.06002889763,0.591883822603,0.0187273210041,1.0596981989
+215,3.583333333,pose1_to_pose2_press,0.621336211624,0.010054547897,1.06002904015,0.591906941145,0.0187272797597,1.05969833427
+216,3.600000000,pose1_to_pose2_press,0.62135325958,0.0100545553854,1.0600291739,0.591923988778,0.0187272858606,1.05969845946
+217,3.616666667,pose1_to_pose2_press,0.621365883125,0.0100546118624,1.06002915777,0.591936611568,0.018727339696,1.05969844298
+218,3.633333333,pose1_to_pose2_press,0.621374447874,0.0100546386584,1.06002903677,0.591945174474,0.0187273606251,1.05969833061
+219,3.650000000,pose1_to_pose2_press,0.621379627359,0.0100545903604,1.06002901042,0.591950354834,0.0187273152754,1.05969830497
+220,3.666666667,pose1_to_pose2_press,0.621383343921,0.0100545229464,1.06002901531,0.591954073035,0.0187272532759,1.05969830807
+221,3.683333333,pose1_to_pose2_press,0.621386414555,0.0100545288561,1.06002907169,0.591957144384,0.0187272614904,1.05969836193
+222,3.700000000,pose1_to_pose2_press,0.621388206609,0.010054600184,1.06002916229,0.59195893615,0.0187273317741,1.05969844989
+223,3.716666667,pose1_to_pose2_press,0.621388824503,0.0100546247776,1.06002919352,0.591959553945,0.0187273560076,1.05969848022
+224,3.733333333,pose1_to_pose2_press,0.621389198598,0.0100546396675,1.06002921243,0.59195992798,0.0187273706795,1.05969849859
+225,3.750000000,pose1_to_pose2_press,0.621389287678,0.010054643213,1.06002921694,0.591960017045,0.0187273741732,1.05969850296
+226,3.766666667,pose1_to_pose2_press,0.62138992877,0.01005466873,1.06002924935,0.591960658035,0.0187273993166,1.05969853443
+227,3.783333333,pose1_to_pose2_press,0.621389999182,0.0100546715326,1.0600292529,0.591960728435,0.0187274020781,1.05969853788
+228,3.800000000,pose1_to_pose2_press,0.621391009694,0.0100547039958,1.06002928875,0.591961738799,0.0187274340122,1.05969857263
+229,3.816666667,pose1_to_pose2_press,0.621392018737,0.0100546748676,1.06002920363,0.591962747798,0.0187274048289,1.05969848954
+230,3.833333333,pose1_to_pose2_press,0.62139295924,0.010054647718,1.06002912429,0.591963688261,0.018727377628,1.05969841209
+231,3.850000000,pose1_to_pose2_press,0.62139358671,0.0100546296048,1.06002907135,0.591964315704,0.0187273594805,1.05969836041
+232,3.866666667,pose1_to_pose2_press,0.621393928926,0.010054619726,1.06002904248,0.591964657905,0.018727349583,1.05969833223
+233,3.883333333,pose1_to_pose2_press,0.621394066972,0.010054616108,1.06002903745,0.591964795873,0.0187273456993,1.0596983272
+234,3.900000000,pose1_to_pose2_press,0.6213940703,0.0100546160291,1.06002903748,0.591964799198,0.0187273456081,1.05969832722
+235,3.916666667,pose1_to_pose2_press,0.621394213063,0.0100546126445,1.06002903871,0.59196494181,0.0187273416974,1.05969832819
+236,3.933333333,pose1_to_pose2_press,0.621394214838,0.0100546126024,1.06002903872,0.591964943584,0.0187273416488,1.0596983282
+237,3.950000000,pose1_to_pose2_press,0.621394297885,0.0100546106336,1.06002903944,0.591965026542,0.0187273393739,1.05969832876
+238,3.966666667,pose1_to_pose2_press,0.621394476898,0.0100546063896,1.06002904098,0.591965205367,0.0187273344703,1.05969832997
+239,3.983333333,pose1_to_pose2_press,0.621394828307,0.0100545980585,1.06002904401,0.591965556406,0.0187273248443,1.05969833235
+240,4.000000000,pose1_to_pose2_press,0.621395297138,0.0100545869436,1.06002904805,0.591966024742,0.0187273120017,1.05969833552
+241,4.016666667,pose1_to_pose2_press,0.621395711353,0.0100545777162,1.06002906668,0.591966438634,0.0187273016437,1.05969835358
+242,4.033333333,pose1_to_pose2_press,0.621395978276,0.0100545750005,1.06002916081,0.591966705971,0.018727300357,1.05969844837
+243,4.050000000,pose1_to_pose2_press,0.621396241492,0.0100545723226,1.06002925363,0.591966969595,0.0187272990882,1.05969854185
+244,4.066666667,pose1_to_pose2_press,0.621396443649,0.0100546289547,1.0600293502,0.59196717173,0.0187273555822,1.05969863674
+245,4.083333333,pose1_to_pose2_press,0.62139656054,0.0100546728665,1.06002941084,0.591967288552,0.0187273991739,1.05969869601
+246,4.100000000,pose2_hold,0.62139656054,0.0100546728665,1.06002941084,0.591967288559,0.0187273991692,1.05969869601
+247,4.116666667,pose2_hold,0.62139656054,0.0100546728665,1.06002941084,0.591967288559,0.0187273991691,1.05969869601
+248,4.133333333,pose2_hold,0.62139656054,0.0100546728665,1.06002941084,0.591967288559,0.0187273991688,1.05969869601
+249,4.150000000,pose2_hold,0.62139656054,0.0100546728665,1.06002941084,0.591967288559,0.0187273991691,1.05969869601
+250,4.166666667,pose2_hold,0.62139656054,0.0100546728665,1.06002941084,0.591967288559,0.0187273991691,1.05969869601
+251,4.183333333,pose2_hold,0.62139656054,0.0100546728665,1.06002941084,0.59196728856,0.0187273991685,1.05969869601
+252,4.200000000,pose2_hold,0.62139656054,0.0100546728665,1.06002941084,0.591967288559,0.0187273991685,1.05969869601
+253,4.216666667,pose2_hold,0.62139656054,0.0100546728665,1.06002941084,0.591967288559,0.018727399169,1.05969869601
+254,4.233333333,pose2_hold,0.62139656054,0.0100546728665,1.06002941084,0.591967288559,0.0187273991691,1.05969869601
+255,4.250000000,pose2_hold,0.62139656054,0.0100546728665,1.06002941084,0.591967288559,0.0187273991687,1.05969869601
+256,4.266666667,pose2_hold,0.62139656054,0.0100546728665,1.06002941084,0.591967288559,0.0187273991691,1.05969869601
+257,4.283333333,pose2_hold,0.62139656054,0.0100546728665,1.06002941084,0.591967288559,0.0187273991689,1.05969869601
+258,4.300000000,pose2_hold,0.62139656054,0.0100546728665,1.06002941084,0.591967288559,0.018727399169,1.05969869601
+259,4.316666667,pose2_hold,0.62139656054,0.0100546728665,1.06002941084,0.591967288559,0.0187273991687,1.05969869601
+260,4.333333333,pose2_hold,0.62139656054,0.0100546728665,1.06002941084,0.591967288559,0.0187273991688,1.05969869601
+261,4.350000000,pose2_hold,0.62139656054,0.0100546728665,1.06002941084,0.591967288559,0.0187273991692,1.05969869601
+262,4.366666667,pose2_to_pose3_retreat,0.62139656054,0.0100546728665,1.06002941084,0.591967288559,0.0187273991691,1.05969869601
+263,4.383333333,pose2_to_pose3_retreat,0.621396381414,0.0100546587072,1.06002916394,0.591967108937,0.0187273836507,1.05969845764
+264,4.400000000,pose2_to_pose3_retreat,0.621396108558,0.0100545639388,1.06002929903,0.591966838134,0.018727295455,1.05969858259
+265,4.416666667,pose2_to_pose3_retreat,0.621395692344,0.0100545139748,1.06002923763,0.59196642228,0.0187272468109,1.05969852382
+266,4.433333333,pose2_to_pose3_retreat,0.621395322104,0.0100544695296,1.060029183,0.59196605236,0.0187272035398,1.05969847153
+267,4.450000000,pose2_to_pose3_retreat,0.621395045964,0.0100544363805,1.06002914226,0.591965776458,0.0187271712664,1.05969843253
+268,4.466666667,pose2_to_pose3_retreat,0.621394616991,0.0100544370101,1.06002912208,0.591965347358,0.0187271714668,1.05969841253
+269,4.483333333,pose2_to_pose3_retreat,0.621392692714,0.0100544451708,1.06002903594,0.591963422462,0.0187271775186,1.05969832696
+270,4.500000000,pose2_to_pose3_retreat,0.621387605209,0.0100545148116,1.06002916462,0.591958333374,0.0187272416342,1.05969845196
+271,4.516666667,pose2_to_pose3_retreat,0.621375357662,0.0100545300891,1.0600290635,0.591946088355,0.0187272656495,1.05969835645
+272,4.533333333,pose2_to_pose3_retreat,0.621354623961,0.0100546324726,1.06002926622,0.591925352339,0.0187273599504,1.05969855078
+273,4.550000000,pose2_to_pose3_retreat,0.621321207468,0.0100545511447,1.06002924458,0.591891936788,0.0187272817199,1.05969853632
+274,4.566666667,pose2_to_pose3_retreat,0.621275599677,0.0100545864238,1.06002913305,0.591846327766,0.018727313525,1.05969842809
+275,4.583333333,pose2_to_pose3_retreat,0.621219639198,0.0100546593184,1.06002889258,0.591790366061,0.0187273823712,1.05969818921
+276,4.600000000,pose2_to_pose3_retreat,0.621154344517,0.0100546185724,1.06002914412,0.591725072989,0.0187273461384,1.05969843393
+277,4.616666667,pose2_to_pose3_retreat,0.621078679412,0.0100546066471,1.06002907321,0.591649408482,0.0187273360571,1.05969836724
+278,4.633333333,pose2_to_pose3_retreat,0.62099307252,0.0100545252845,1.06002917887,0.591563802094,0.0187272568154,1.05969847708
+279,4.650000000,pose2_to_pose3_retreat,0.620896196213,0.0100545354441,1.06002918987,0.591466925623,0.0187272662183,1.05969848194
+280,4.666666667,pose2_to_pose3_retreat,0.620781214676,0.0100545691318,1.06002907101,0.59135194361,0.0187272982262,1.0596983649
+281,4.683333333,pose2_to_pose3_retreat,0.620648664344,0.0100545783618,1.06002918413,0.591219393746,0.0187273087412,1.05969847327
+282,4.700000000,pose2_to_pose3_retreat,0.620496638032,0.010054601706,1.06002920529,0.591067368061,0.0187273341519,1.05969849561
+283,4.716666667,pose2_to_pose3_retreat,0.62032516526,0.0100545027925,1.06002913816,0.590895895876,0.0187272371811,1.05969843171
+284,4.733333333,pose2_to_pose3_retreat,0.620133087676,0.0100545172494,1.06002914675,0.590703818133,0.0187272508671,1.05969843876
+285,4.750000000,pose2_to_pose3_retreat,0.619918437226,0.0100546064952,1.06002930918,0.590489167323,0.0187273388153,1.05969860327
+286,4.766666667,pose2_to_pose3_retreat,0.619680548459,0.010054527201,1.06002933322,0.590251279412,0.0187272621696,1.05969862617
+287,4.783333333,pose2_to_pose3_retreat,0.61941453671,0.0100545389165,1.06002911301,0.589985266511,0.018727269534,1.05969840014
+288,4.800000000,pose2_to_pose3_retreat,0.619121957436,0.0100546111205,1.06002910748,0.589692686173,0.018727337916,1.0596983939
+289,4.816666667,pose2_to_pose3_retreat,0.618802115897,0.0100545524064,1.06002914709,0.589372846124,0.0187272842143,1.05969843808
+290,4.833333333,pose2_to_pose3_retreat,0.618458684642,0.0100545321109,1.06002907262,0.589029415765,0.0187272668295,1.05969836691
+291,4.850000000,pose2_to_pose3_retreat,0.61809203744,0.0100546226442,1.06002907922,0.588662768196,0.0187273557428,1.05969837002
+292,4.866666667,pose2_to_pose3_retreat,0.617704781623,0.0100546314849,1.06002906487,0.588275511123,0.018727359908,1.05969835196
+293,4.883333333,pose2_to_pose3_retreat,0.617297559323,0.0100545841533,1.06002904732,0.587868289337,0.0187273141867,1.0596983388
+294,4.900000000,pose2_to_pose3_retreat,0.616868195675,0.0100545718135,1.06002918642,0.587438926118,0.0187273030575,1.05969847839
+295,4.916666667,pose2_to_pose3_retreat,0.616416505201,0.0100544241052,1.06002910456,0.586987236405,0.0187271575207,1.05969839261
+296,4.933333333,pose2_to_pose3_retreat,0.615939904776,0.0100544556071,1.06002923674,0.586510635409,0.0187271868832,1.05969852643
+297,4.950000000,pose2_to_pose3_retreat,0.615431720138,0.0100547203746,1.06002916727,0.586002448093,0.018727442304,1.05969845719
+298,4.966666667,pose2_to_pose3_retreat,0.61488981204,0.0100545483313,1.06002925692,0.585460542611,0.018727278708,1.05969854127
+299,4.983333333,pose2_to_pose3_retreat,0.61430819028,0.0100544834507,1.06002904365,0.58487892047,0.0187272127098,1.05969833445
+300,5.000000000,pose2_to_pose3_retreat,0.613692873851,0.010054548069,1.06002912361,0.584263604004,0.0187272768912,1.05969840626
+301,5.016666667,pose2_to_pose3_retreat,0.613049102717,0.0100545704965,1.06002887763,0.583619833521,0.0187273017985,1.05969816789
+302,5.033333333,pose2_to_pose3_retreat,0.612387036113,0.0100546440927,1.06002926792,0.582957768043,0.0187273793347,1.05969856031
+303,5.050000000,pose2_to_pose3_retreat,0.611708876629,0.0100544937839,1.06002922087,0.58227960897,0.0187272302631,1.05969851048
+304,5.066666667,pose2_to_pose3_retreat,0.611015027328,0.0100545793721,1.06002899052,0.581585758025,0.0187273102736,1.05969827936
+305,5.083333333,pose2_to_pose3_retreat,0.610302029942,0.0100546050502,1.06002937835,0.580872760071,0.0187273336131,1.05969865544
+306,5.100000000,pose2_to_pose3_retreat,0.609559419871,0.0100544517331,1.06002891336,0.580130151415,0.0187271858549,1.0596982095
+307,5.116666667,pose2_to_pose3_retreat,0.608789337314,0.0100545363406,1.06002917157,0.5793600679,0.0187272665586,1.05969845098
+308,5.133333333,pose2_to_pose3_retreat,0.607991417203,0.0100546577963,1.06002893505,0.578562144098,0.0187273757553,1.05969822008
+309,5.150000000,pose2_to_pose3_retreat,0.607163124237,0.0100546048925,1.06002896166,0.577733852356,0.0187273269993,1.05969824856
+310,5.166666667,pose2_to_pose3_retreat,0.606302829485,0.0100545883182,1.06002912051,0.576873558591,0.0187273139934,1.05969841117
+311,5.183333333,pose2_to_pose3_retreat,0.605435088053,0.0100544058098,1.06002906453,0.576005820709,0.0187271434159,1.05969835273
+312,5.200000000,pose2_to_pose3_retreat,0.60456162625,0.0100545713088,1.06002919265,0.575132356047,0.0187272991695,1.05969848203
+313,5.216666667,pose2_to_pose3_retreat,0.603685595807,0.0100545095065,1.06002931358,0.574256327206,0.018727242783,1.05969860222
+314,5.233333333,pose2_to_pose3_retreat,0.602816781022,0.0100545337375,1.06002933744,0.573387511628,0.0187272643036,1.05969862562
+315,5.250000000,pose2_to_pose3_retreat,0.601956631389,0.0100545401663,1.06002913908,0.57252736147,0.0187272691036,1.05969843112
+316,5.266666667,pose2_to_pose3_retreat,0.60108577099,0.0100545635611,1.06002916172,0.571656500965,0.018727292185,1.0596984557
+317,5.283333333,pose2_to_pose3_retreat,0.600201554774,0.010054585312,1.06002920819,0.570772284722,0.018727313921,1.05969850377
+318,5.300000000,pose2_to_pose3_retreat,0.599292146062,0.0100545272561,1.06002900759,0.569862877247,0.0187272600834,1.05969830282
+319,5.316666667,pose2_to_pose3_retreat,0.5983640055,0.0100543715463,1.06002905165,0.568934738252,0.0187271092626,1.05969833554
+320,5.333333333,pose2_to_pose3_retreat,0.597423713445,0.0100544974113,1.06002911623,0.567994444792,0.0187272305344,1.05969840467
+321,5.350000000,pose2_to_pose3_retreat,0.596498186935,0.0100545678101,1.06002923294,0.567068918465,0.018727301633,1.05969852367
+322,5.366666667,pose2_to_pose3_retreat,0.595599504569,0.0100545195656,1.06002917457,0.566170237143,0.0187272567132,1.05969845995
+323,5.383333333,pose2_to_pose3_retreat,0.594732393506,0.0100544708042,1.06002913903,0.565303125875,0.0187272074889,1.05969843021
+324,5.400000000,pose2_to_pose3_retreat,0.5938920219,0.0100545198475,1.06002917385,0.564462752417,0.0187272500276,1.05969845926
+325,5.416666667,pose2_to_pose3_retreat,0.593066693022,0.0100546124264,1.06002921497,0.563637422438,0.0187273387127,1.05969849617
+326,5.433333333,pose2_to_pose3_retreat,0.592233328018,0.010054592264,1.06002930254,0.562804057159,0.0187273179527,1.05969859193
+327,5.450000000,pose2_to_pose3_retreat,0.591381369365,0.0100546019847,1.06002932119,0.56195209959,0.0187273314678,1.05969861358
+328,5.466666667,pose2_to_pose3_retreat,0.590521253022,0.010054547879,1.06002906567,0.561091982567,0.0187272751085,1.05969835935
+329,5.483333333,pose2_to_pose3_retreat,0.589658816333,0.0100546167218,1.06002932131,0.560229544758,0.0187273398717,1.05969860754
+330,5.500000000,pose2_to_pose3_retreat,0.58883451809,0.0100545767737,1.06002919507,0.5594052491,0.0187273089913,1.05969848905
+331,5.516666667,pose2_to_pose3_retreat,0.588050467979,0.0100546251963,1.06002886554,0.55862119759,0.0187273525436,1.05969815626
+332,5.533333333,pose2_to_pose3_retreat,0.587310132949,0.0100545504581,1.06002911809,0.557880863381,0.0187272804221,1.05969840434
+333,5.550000000,pose2_to_pose3_retreat,0.586599987722,0.0100545068088,1.0600292584,0.557170718364,0.0187272377023,1.05969855028
+334,5.566666667,pose2_to_pose3_retreat,0.585911602134,0.0100545244543,1.06002921048,0.556482334527,0.0187272613544,1.05969850404
+335,5.583333333,pose2_to_pose3_retreat,0.585221229683,0.0100545346739,1.06002899087,0.555791962021,0.0187272716064,1.05969829006
+336,5.600000000,pose2_to_pose3_retreat,0.584531856244,0.0100543693443,1.06002911291,0.555102589353,0.0187271083496,1.05969839796
+337,5.616666667,pose2_to_pose3_retreat,0.583859119929,0.0100544523718,1.06002936583,0.554429851923,0.0187271878069,1.05969865624
+338,5.633333333,pose2_to_pose3_retreat,0.58321456403,0.010054532495,1.06002924281,0.553785294379,0.0187272623515,1.05969853226
+339,5.650000000,pose2_to_pose3_retreat,0.582606406645,0.0100544378644,1.06002912455,0.553177137876,0.0187271706787,1.05969841382
+340,5.666666667,pose2_to_pose3_retreat,0.582029205738,0.010054471282,1.06002905201,0.552599938433,0.0187272091707,1.05969834348
+341,5.683333333,pose2_to_pose3_retreat,0.581480041097,0.0100544582233,1.06002919565,0.552050773408,0.0187271945948,1.05969848164
+342,5.700000000,pose2_to_pose3_retreat,0.580959893452,0.0100546164286,1.06002922718,0.551530623509,0.0187273453999,1.05969852069
+343,5.716666667,pose2_to_pose3_retreat,0.58046962402,0.0100545695013,1.06002908096,0.551040352781,0.0187272940503,1.05969837422
+344,5.733333333,pose2_to_pose3_retreat,0.58001529179,0.0100544410416,1.06002888289,0.550586021947,0.0187271704214,1.05969817826
+345,5.750000000,pose2_to_pose3_retreat,0.579595296228,0.0100544659892,1.0600289232,0.550166027131,0.0187271977341,1.05969821423
+346,5.766666667,pose2_to_pose3_retreat,0.579209530083,0.0100545675506,1.06002905029,0.549780261043,0.0187272996429,1.05969834534
+347,5.783333333,pose2_to_pose3_retreat,0.578841365477,0.0100546987894,1.06002942102,0.549412095813,0.0187274282723,1.05969870314
+348,5.800000000,pose2_to_pose3_retreat,0.578489148342,0.0100545952495,1.06002926931,0.549059878634,0.0187273248601,1.05969855877
+349,5.816666667,pose2_to_pose3_retreat,0.578153286194,0.0100544706908,1.06002898856,0.548724018405,0.0187272071644,1.0596982867
+350,5.833333333,pose2_to_pose3_retreat,0.577836347993,0.0100546516348,1.06002891366,0.54840707651,0.0187273754793,1.05969820921
+351,5.850000000,pose2_to_pose3_retreat,0.577544268331,0.0100546759018,1.0600291803,0.548114998129,0.01872740386,1.0596984698
+352,5.866666667,pose2_to_pose3_retreat,0.577279947961,0.0100546194936,1.06002929436,0.547850677514,0.0187273465175,1.05969858119
+353,5.883333333,pose2_to_pose3_retreat,0.577044891082,0.0100545581391,1.0600292558,0.54761562174,0.0187272889893,1.05969854459
+354,5.900000000,pose2_to_pose3_retreat,0.576835747363,0.0100547136484,1.06002916183,0.547406475937,0.0187274373816,1.05969844975
+355,5.916666667,pose2_to_pose3_retreat,0.576650592809,0.0100546764837,1.06002916976,0.547221321491,0.0187274005791,1.05969845743
+356,5.933333333,pose2_to_pose3_retreat,0.576488781927,0.0100545920777,1.06002915416,0.547059512822,0.018727323795,1.05969844475
+357,5.950000000,pose2_to_pose3_retreat,0.576346487203,0.0100545676208,1.06002914783,0.546917218294,0.0187273000296,1.0596984391
+358,5.966666667,pose2_to_pose3_retreat,0.576223041326,0.0100545528447,1.06002912675,0.546793772275,0.0187272848354,1.05969842177
+359,5.983333333,pose2_to_pose3_retreat,0.576117486467,0.0100545801243,1.0600291117,0.546688215601,0.0187273056638,1.05969840214
+360,6.000000000,pose2_to_pose3_retreat,0.576028929017,0.0100545699061,1.06002904082,0.546599659122,0.0187272988741,1.05969833078
+361,6.016666667,pose2_to_pose3_retreat,0.575953899589,0.0100545859252,1.06002910228,0.546524629675,0.0187273148608,1.0596983932
+362,6.033333333,pose2_to_pose3_retreat,0.575891509478,0.0100545170615,1.06002917374,0.546462241004,0.0187272507067,1.05969846008
+363,6.050000000,pose2_to_pose3_retreat,0.575842462428,0.0100544388003,1.06002904919,0.546413193753,0.0187271717486,1.05969833539
+364,6.066666667,pose2_to_pose3_retreat,0.575804094132,0.0100545578433,1.06002919712,0.546374824422,0.0187272871607,1.05969848048
+365,6.083333333,pose2_to_pose3_retreat,0.575775823212,0.0100545220993,1.0600289326,0.54634655348,0.0187272516882,1.05969822481
+366,6.100000000,pose2_to_pose3_retreat,0.575755420313,0.0100544637731,1.06002900386,0.546326152072,0.0187271987139,1.05969830243
+367,6.116666667,pose2_to_pose3_retreat,0.575741238824,0.0100544950662,1.06002913967,0.546311970361,0.0187272288797,1.05969842878
+368,6.133333333,pose2_to_pose3_retreat,0.575731270391,0.0100545701896,1.0600293278,0.546302001407,0.0187273020309,1.05969861164
+369,6.150000000,pose2_to_pose3_retreat,0.575724305263,0.010054604919,1.0600293591,0.546295036143,0.0187273362211,1.0596986408
+370,6.166666667,pose2_to_pose3_retreat,0.575719981504,0.0100545911427,1.0600292304,0.546290712675,0.0187273234505,1.05969851236
+371,6.183333333,pose2_to_pose3_retreat,0.575717441359,0.0100546053004,1.06002924268,0.546288172617,0.0187273378764,1.05969852396
+372,6.200000000,pose2_to_pose3_retreat,0.575716275374,0.0100546258917,1.06002930398,0.546287006617,0.0187273583866,1.05969858443
+373,6.216666667,pose2_to_pose3_retreat,0.575715677516,0.0100546364498,1.06002933541,0.546286408752,0.0187273689032,1.05969861543
+374,6.233333333,pose2_to_pose3_retreat,0.575715184982,0.010054645148,1.06002936131,0.546285916211,0.0187273775671,1.05969864097
+375,6.250000000,pose2_to_pose3_retreat,0.575714311979,0.0100546605652,1.0600294072,0.546285043198,0.0187273929236,1.05969868624
+376,6.266666667,pose2_to_pose3_retreat,0.575713598602,0.0100546723378,1.06002943872,0.546284329774,0.0187274045329,1.05969871766
+377,6.283333333,pose2_to_pose3_retreat,0.575713309015,0.0100546745579,1.06002943293,0.546284040049,0.0187274063342,1.05969871314
+378,6.300000000,pose2_to_pose3_retreat,0.575713109295,0.0100546760891,1.06002942894,0.546283840234,0.0187274075765,1.05969871001
+379,6.316666667,pose2_to_pose3_retreat,0.575712882825,0.0100546778253,1.06002942442,0.546283613657,0.0187274089853,1.05969870647
+380,6.333333333,pose2_to_pose3_retreat,0.575712736724,0.0100546789454,1.0600294215,0.546283467487,0.0187274098941,1.05969870419
+381,6.350000000,pose2_to_pose3_retreat,0.575712528673,0.0100546805404,1.06002941735,0.546283259337,0.0187274111882,1.05969870094
+382,6.366666667,pose2_to_pose3_retreat,0.575712111081,0.0100546837419,1.06002940901,0.546282841547,0.0187274137858,1.05969869441
+383,6.383333333,pose2_to_pose3_retreat,0.575712072001,0.0100546840415,1.06002940823,0.546282802448,0.0187274140289,1.0596986938
+384,6.400000000,pose2_to_pose3_retreat,0.575711545426,0.0100546880785,1.06002939771,0.546282275623,0.0187274173043,1.05969868557
+385,6.416666667,pose2_to_pose3_retreat,0.575711183299,0.0100546908547,1.06002939048,0.546281913324,0.0187274195569,1.05969867991
+386,6.433333333,pose2_to_pose3_retreat,0.575710913017,0.010054690487,1.0600293805,0.546281642901,0.0187274187497,1.05969867099
+387,6.450000000,pose2_to_pose3_retreat,0.575710400453,0.0100546478954,1.06002928308,0.546281129846,0.0187273744885,1.05969857344
+388,6.466666667,pose2_to_pose3_retreat,0.575710050522,0.0100546188177,1.06002921657,0.546280779581,0.0187273442712,1.05969850684
+389,6.483333333,pose2_to_pose3_retreat,0.575709880682,0.0100546047049,1.06002918429,0.546280609578,0.0187273296051,1.05969847452
+390,6.500000000,pose2_to_pose3_retreat,0.575709830366,0.0100546005238,1.06002917472,0.546280559214,0.0187273252602,1.05969846494
+391,6.516666667,pose2_to_pose3_retreat,0.575709713844,0.0100545907526,1.06002915127,0.546280442591,0.0187273151485,1.05969844152
+392,6.533333333,pose2_to_pose3_retreat,0.575709695882,0.0100545889928,1.06002914394,0.546280424645,0.0187273134481,1.05969843437
+393,6.550000000,pose2_to_pose3_retreat,0.575709629775,0.0100545825161,1.06002911694,0.546280358595,0.0187273071895,1.05969840803
+394,6.566666667,pose2_to_pose3_retreat,0.575709472046,0.0100545670628,1.06002905253,0.546280201001,0.0187272922567,1.05969834518
+395,6.583333333,pose2_to_pose3_retreat,0.575709338719,0.0100545916827,1.06002905678,0.546280067504,0.0187273163144,1.05969834987
+396,6.600000000,pose2_to_pose3_retreat,0.575709253326,0.010054727697,1.06002924682,0.546279981091,0.0187274487706,1.05969853737
+397,6.616666667,pose2_to_pose3_retreat,0.575709244717,0.0100547414097,1.06002926598,0.546279972379,0.0187274621246,1.05969855628
+398,6.633333333,pose2_to_pose3_retreat,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726

Part2/Obstacle_avoidance/cylinder_0050_20/position_11/depth_05/fem_node.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d92f2be0b246dfa282a0c76e0302a8aadb80e82fd30f02ea5987758f66e1cf8
+size 25577527

Part2/Obstacle_avoidance/cylinder_0050_20/position_11/depth_05/simulation_data.csv

@@ -0,0 +1,403 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+1,0.016666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+2,0.033333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+3,0.050000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+4,0.066666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+5,0.083333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+6,0.100000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+7,0.116666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+8,0.133333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+9,0.150000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+10,0.166666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+11,0.183333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+12,0.200000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+13,0.216666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+14,0.233333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+15,0.250000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+16,0.266666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+17,0.283333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+18,0.300000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+19,0.316666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+20,0.333333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+21,0.350000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+22,0.366666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+23,0.383333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+24,0.400000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+25,0.416666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+26,0.433333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+27,0.450000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+28,0.466666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+29,0.483333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+30,0.500000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+31,0.516666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+32,0.533333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+33,0.550000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+34,0.566666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+35,0.583333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+36,0.600000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+37,0.616666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+38,0.633333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+39,0.650000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+40,0.666666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+41,0.683333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+42,0.700000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+43,0.716666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+44,0.733333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+45,0.750000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+46,0.766666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+47,0.783333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+48,0.800000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+49,0.816666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+50,0.833333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+51,0.850000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+52,0.866666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+53,0.883333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+54,0.900000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+55,0.916666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+56,0.933333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+57,0.950000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+58,0.966666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+59,0.983333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+60,1.000000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+61,1.016666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+62,1.033333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+63,1.050000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+64,1.066666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+65,1.083333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+66,1.100000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+67,1.116666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+68,1.133333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+69,1.150000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+70,1.166666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+71,1.183333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+72,1.200000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+73,1.216666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+74,1.233333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+75,1.250000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+76,1.266666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+77,1.283333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+78,1.300000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+79,1.316666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+80,1.333333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+81,1.350000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+82,1.366666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+83,1.383333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+84,1.400000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+85,1.416666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+86,1.433333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+87,1.450000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+88,1.466666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+89,1.483333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+90,1.500000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+91,1.516666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+92,1.533333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+93,1.550000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+94,1.566666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+95,1.583333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+96,1.600000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+97,1.616666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+98,1.633333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+99,1.650000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+100,1.666666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+101,1.683333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+102,1.700000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+103,1.716666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+104,1.733333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+105,1.750000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+106,1.766666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+107,1.783333333,pose1_to_pose2_press,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+108,1.800000000,pose1_to_pose2_press,0.575709251141,0.0100547411717,1.0600292479,0.546279978664,0.018727461457,1.05969853943
+109,1.816666667,pose1_to_pose2_press,0.575709282459,0.0100547368408,1.06002916097,0.546280009365,0.0187274552531,1.05969845818
+110,1.833333333,pose1_to_pose2_press,0.575709457834,0.0100547206863,1.06002910982,0.546280184659,0.018727438891,1.05969840884
+111,1.850000000,pose1_to_pose2_press,0.575709918008,0.0100546813362,1.06002913906,0.546280645882,0.0187274028537,1.05969843158
+112,1.866666667,pose1_to_pose2_press,0.57571058881,0.010054690158,1.06002921655,0.546281318456,0.0187274176467,1.059698508
+113,1.883333333,pose1_to_pose2_press,0.575712476825,0.0100546830441,1.06002921817,0.546283206794,0.0187274115781,1.0596985083
+114,1.900000000,pose1_to_pose2_press,0.575716914605,0.0100546146244,1.06002917809,0.546287645088,0.0187273446951,1.05969846269
+115,1.916666667,pose1_to_pose2_press,0.57572620515,0.0100545785128,1.0600291585,0.54629693365,0.0187273020731,1.05969844872
+116,1.933333333,pose1_to_pose2_press,0.575744393322,0.0100545617895,1.06002910152,0.546315122019,0.0187272860411,1.05969839229
+117,1.950000000,pose1_to_pose2_press,0.575772959195,0.0100545534084,1.0600290308,0.546343691559,0.0187272901077,1.05969832169
+118,1.966666667,pose1_to_pose2_press,0.575812300905,0.0100546440461,1.06002933422,0.546383029429,0.0187273677697,1.05969862653
+119,1.983333333,pose1_to_pose2_press,0.575861354688,0.0100546098268,1.06002908828,0.546432083906,0.0187273359435,1.05969838146
+120,2.000000000,pose1_to_pose2_press,0.575920515764,0.0100545730766,1.06002901332,0.546491245452,0.0187273007932,1.05969830659
+121,2.016666667,pose1_to_pose2_press,0.575987549524,0.0100545448977,1.0600291403,0.546558279693,0.018727273831,1.05969842255
+122,2.033333333,pose1_to_pose2_press,0.576062042535,0.0100544635292,1.06002917964,0.546632772509,0.0187271917946,1.05969846166
+123,2.050000000,pose1_to_pose2_press,0.576148124569,0.0100545049265,1.06002925777,0.546718855055,0.0187272349047,1.05969853912
+124,2.066666667,pose1_to_pose2_press,0.576246735904,0.0100546209952,1.06002937808,0.546817465836,0.0187273490992,1.05969865952
+125,2.083333333,pose1_to_pose2_press,0.576361894506,0.0100547144423,1.06002919361,0.546932623417,0.0187274395131,1.05969848634
+126,2.100000000,pose1_to_pose2_press,0.576494258336,0.0100546593446,1.06002919082,0.547064987899,0.0187273867753,1.05969848742
+127,2.116666667,pose1_to_pose2_press,0.576647483166,0.0100546282721,1.06002928365,0.54721821233,0.0187273539744,1.05969857037
+128,2.133333333,pose1_to_pose2_press,0.576820506693,0.01005462746,1.06002916989,0.54739123646,0.018727355206,1.0596984565
+129,2.150000000,pose1_to_pose2_press,0.577013978493,0.0100545082162,1.06002917283,0.547584709754,0.0187272410125,1.05969845883
+130,2.166666667,pose1_to_pose2_press,0.577228669455,0.0100545354294,1.06002919261,0.547799399715,0.0187272646142,1.05969847294
+131,2.183333333,pose1_to_pose2_press,0.577464596956,0.0100546399392,1.06002917223,0.54803532695,0.0187273683876,1.05969845686
+132,2.200000000,pose1_to_pose2_press,0.577724049367,0.0100545841016,1.06002914836,0.548294779791,0.0187273142044,1.05969843798
+133,2.216666667,pose1_to_pose2_press,0.578006742084,0.0100545701931,1.06002923693,0.548577471929,0.0187272982663,1.05969852481
+134,2.233333333,pose1_to_pose2_press,0.578315233837,0.0100545889975,1.06002920685,0.548885964045,0.0187273183451,1.05969849584
+135,2.250000000,pose1_to_pose2_press,0.578647725816,0.0100545651233,1.06002907183,0.549218455846,0.0187272939643,1.05969836331
+136,2.266666667,pose1_to_pose2_press,0.579004362663,0.0100545227424,1.06002910364,0.54957509382,0.0187272554321,1.05969839571
+137,2.283333333,pose1_to_pose2_press,0.579384304979,0.0100546340027,1.0600291403,0.549955036018,0.0187273663181,1.05969843305
+138,2.300000000,pose1_to_pose2_press,0.579784643184,0.0100546151128,1.06002923091,0.550355373778,0.0187273458593,1.05969852206
+139,2.316666667,pose1_to_pose2_press,0.580201530151,0.0100546077732,1.06002903409,0.550772260246,0.0187273368693,1.05969832625
+140,2.333333333,pose1_to_pose2_press,0.580637363366,0.0100545654269,1.06002905057,0.551208093517,0.0187272946785,1.05969834174
+141,2.350000000,pose1_to_pose2_press,0.581096515074,0.0100545667838,1.06002921718,0.551667246447,0.0187273001538,1.05969850756
+142,2.366666667,pose1_to_pose2_press,0.581583784182,0.0100545535114,1.06002921177,0.55215451545,0.018727286443,1.05969849995
+143,2.383333333,pose1_to_pose2_press,0.582101441848,0.0100545714438,1.06002916603,0.552672171432,0.0187272986183,1.0596984531
+144,2.400000000,pose1_to_pose2_press,0.582651927984,0.0100545496461,1.06002914796,0.553222657775,0.0187272776862,1.05969843921
+145,2.416666667,pose1_to_pose2_press,0.583228479243,0.010054450283,1.06002914508,0.553799210071,0.0187271818694,1.05969843699
+146,2.433333333,pose1_to_pose2_press,0.583827244717,0.0100545566501,1.06002908983,0.554397974856,0.0187272857709,1.05969837839
+147,2.450000000,pose1_to_pose2_press,0.584445174244,0.0100546680435,1.06002908444,0.555015903314,0.0187273937038,1.05969837737
+148,2.466666667,pose1_to_pose2_press,0.585083982822,0.0100546112414,1.06002921931,0.555654712542,0.018727339006,1.05969850953
+149,2.483333333,pose1_to_pose2_press,0.585751131226,0.0100545596013,1.06002926297,0.556321861538,0.0187272894493,1.05969855513
+150,2.500000000,pose1_to_pose2_press,0.586445828363,0.010054526928,1.06002920428,0.557016559693,0.0187272601278,1.05969849368
+151,2.516666667,pose1_to_pose2_press,0.587163228612,0.0100546384382,1.0600293142,0.55773395773,0.018727364066,1.05969860185
+152,2.533333333,pose1_to_pose2_press,0.58789220025,0.0100545139228,1.06002907318,0.558462930111,0.0187272423558,1.05969836825
+153,2.550000000,pose1_to_pose2_press,0.588625017304,0.01005449948,1.06002905472,0.559195747229,0.0187272279732,1.05969834571
+154,2.566666667,pose1_to_pose2_press,0.589364211184,0.010054601227,1.06002901261,0.559934940172,0.0187273264995,1.05969830255
+155,2.583333333,pose1_to_pose2_press,0.59011386448,0.0100545592154,1.06002897696,0.560684594374,0.0187272875965,1.05969826773
+156,2.600000000,pose1_to_pose2_press,0.590886097085,0.0100545605835,1.06002916169,0.561456827043,0.018727289175,1.05969845236
+157,2.616666667,pose1_to_pose2_press,0.591683524292,0.0100546225804,1.06002920819,0.562254252558,0.0187273454638,1.05969849969
+158,2.633333333,pose1_to_pose2_press,0.592508430885,0.0100546109715,1.06002920478,0.563079159512,0.0187273351721,1.05969849869
+159,2.650000000,pose1_to_pose2_press,0.593350560791,0.0100545643985,1.06002890411,0.56392129057,0.0187272925583,1.05969819941
+160,2.666666667,pose1_to_pose2_press,0.594208316273,0.0100546212509,1.06002895751,0.564779044577,0.0187273442688,1.05969824919
+161,2.683333333,pose1_to_pose2_press,0.595066077022,0.010054554158,1.06002911389,0.565636806961,0.0187272823327,1.05969839527
+162,2.700000000,pose1_to_pose2_press,0.595921263779,0.0100545872101,1.06002913763,0.566491992962,0.0187273128499,1.05969841991
+163,2.716666667,pose1_to_pose2_press,0.596759522404,0.0100545004177,1.06002915697,0.56733025369,0.0187272334037,1.05969844477
+164,2.733333333,pose1_to_pose2_press,0.597587236166,0.0100545170467,1.06002907167,0.568157967581,0.0187272505884,1.05969836267
+165,2.750000000,pose1_to_pose2_press,0.598417422788,0.0100546564731,1.06002906945,0.568988152628,0.0187273848312,1.05969836471
+166,2.766666667,pose1_to_pose2_press,0.599258344595,0.0100545836286,1.06002914833,0.569829075269,0.0187273146268,1.05969843852
+167,2.783333333,pose1_to_pose2_press,0.600113991204,0.0100545966238,1.06002907818,0.570684720768,0.0187273239579,1.05969837116
+168,2.800000000,pose1_to_pose2_press,0.600999939639,0.0100546768292,1.06002908907,0.571570667744,0.0187273991872,1.05969838148
+169,2.816666667,pose1_to_pose2_press,0.601902996231,0.0100546517792,1.06002918161,0.57247372542,0.0187273774624,1.05969846485
+170,2.833333333,pose1_to_pose2_press,0.602795320007,0.0100546014369,1.06002910539,0.573366050817,0.0187273326421,1.05969838924
+171,2.850000000,pose1_to_pose2_press,0.603664849212,0.0100545915925,1.06002914203,0.574235579254,0.0187273201528,1.05969842493
+172,2.866666667,pose1_to_pose2_press,0.604499459984,0.0100545699673,1.06002916029,0.575070190384,0.0187272999876,1.05969844966
+173,2.883333333,pose1_to_pose2_press,0.605303531847,0.0100544790838,1.06002915052,0.575874262928,0.0187272115189,1.05969844269
+174,2.900000000,pose1_to_pose2_press,0.606083097752,0.0100544623443,1.06002914849,0.576653829143,0.0187271957107,1.05969843753
+175,2.916666667,pose1_to_pose2_press,0.606873080091,0.0100545632253,1.06002899724,0.57744381063,0.0187272938455,1.05969829017
+176,2.933333333,pose1_to_pose2_press,0.607674727298,0.0100545636286,1.06002902478,0.578245458224,0.018727295688,1.05969832109
+177,2.950000000,pose1_to_pose2_press,0.608481971834,0.0100546016349,1.06002908596,0.579052702431,0.0187273323068,1.05969837528
+178,2.966666667,pose1_to_pose2_press,0.609283627432,0.0100544450515,1.0600290174,0.579854359218,0.0187271798511,1.05969830925
+179,2.983333333,pose1_to_pose2_press,0.610073351339,0.0100544797407,1.06002899668,0.580644082639,0.0187272130504,1.0596982928
+180,3.000000000,pose1_to_pose2_press,0.610819409815,0.01005460956,1.06002921335,0.581390140187,0.018727339517,1.05969850418
+181,3.016666667,pose1_to_pose2_press,0.611526564374,0.0100545988491,1.06002908211,0.582097295259,0.0187273306588,1.05969837605
+182,3.033333333,pose1_to_pose2_press,0.612200213998,0.0100545600616,1.06002901285,0.582770944742,0.0187272914372,1.05969830774
+183,3.050000000,pose1_to_pose2_press,0.612842841682,0.0100545758494,1.06002918508,0.583413571896,0.0187273054103,1.05969848081
+184,3.066666667,pose1_to_pose2_press,0.613452891265,0.0100545885134,1.06002926653,0.584023621092,0.0187273166685,1.05969855838
+185,3.083333333,pose1_to_pose2_press,0.61404448505,0.0100545309944,1.0600292877,0.584615215486,0.0187272610725,1.05969857377
+186,3.100000000,pose1_to_pose2_press,0.614622842501,0.01005453731,1.06002936458,0.585193573917,0.0187272707448,1.05969864928
+187,3.116666667,pose1_to_pose2_press,0.615194407178,0.0100546446551,1.06002928997,0.585765137534,0.0187273746514,1.05969857616
+188,3.133333333,pose1_to_pose2_press,0.615757389433,0.010054658754,1.06002922066,0.586328119321,0.0187273874947,1.05969851178
+189,3.150000000,pose1_to_pose2_press,0.616300607549,0.0100546414916,1.06002920393,0.586871336872,0.0187273685293,1.0596984943
+190,3.166666667,pose1_to_pose2_press,0.616812584201,0.0100546258033,1.06002908507,0.58738331242,0.0187273493962,1.05969837535
+191,3.183333333,pose1_to_pose2_press,0.617286684564,0.0100545649353,1.06002908519,0.587857413757,0.01872729228,1.05969837943
+192,3.200000000,pose1_to_pose2_press,0.617724196855,0.0100545089275,1.06002907622,0.58829492745,0.0187272413035,1.05969836971
+193,3.216666667,pose1_to_pose2_press,0.61812948157,0.0100545551224,1.06002925779,0.588700212519,0.0187272886643,1.0596985424
+194,3.233333333,pose1_to_pose2_press,0.618516339399,0.0100546501063,1.06002942238,0.589087069964,0.0187273824975,1.05969870319
+195,3.250000000,pose1_to_pose2_press,0.618888545136,0.0100546259602,1.06002917244,0.589459275048,0.0187273568963,1.05969846511
+196,3.266666667,pose1_to_pose2_press,0.619246730057,0.0100545834347,1.0600292203,0.589817459404,0.0187273127357,1.05969851332
+197,3.283333333,pose1_to_pose2_press,0.619587954804,0.0100545375794,1.06002915144,0.590158685061,0.0187272700256,1.05969843945
+198,3.300000000,pose1_to_pose2_press,0.619909863617,0.0100545573584,1.06002906749,0.590480593099,0.0187272878963,1.05969836567
+199,3.316666667,pose1_to_pose2_press,0.620205437935,0.010054724048,1.06002891102,0.590776165483,0.0187274483401,1.05969821089
+200,3.333333333,pose1_to_pose2_press,0.62047489561,0.0100545974085,1.06002882385,0.591045625898,0.0187273312142,1.05969812312
+201,3.350000000,pose1_to_pose2_press,0.620716932002,0.0100546033955,1.06002901921,0.591287661937,0.018727336,1.05969831221
+202,3.366666667,pose1_to_pose2_press,0.620935331394,0.0100545235812,1.06002905748,0.591506061895,0.0187272582352,1.05969834876
+203,3.383333333,pose1_to_pose2_press,0.621130585102,0.0100546489985,1.06002917511,0.591701312472,0.0187273730142,1.05969846061
+204,3.400000000,pose1_to_pose2_press,0.621307077875,0.0100546015948,1.06002919519,0.591877806005,0.0187273281493,1.05969847559
+205,3.416666667,pose1_to_pose2_press,0.621465267582,0.0100546158131,1.06002911808,0.592035996216,0.0187273447654,1.05969841188
+206,3.433333333,pose1_to_pose2_press,0.621606871131,0.0100545655329,1.0600288708,0.592177599177,0.01872729286,1.05969817113
+207,3.450000000,pose1_to_pose2_press,0.621733925328,0.0100545481857,1.06002922532,0.592304654851,0.0187272804427,1.05969852027
+208,3.466666667,pose1_to_pose2_press,0.621846641541,0.0100544675793,1.06002920437,0.5924173725,0.0187272042542,1.05969848493
+209,3.483333333,pose1_to_pose2_press,0.62194694619,0.0100544840409,1.06002903754,0.59251767622,0.0187272181115,1.05969832926
+210,3.500000000,pose1_to_pose2_press,0.62203479731,0.0100544542384,1.06002910777,0.59260552853,0.018727192108,1.0596984017
+211,3.516666667,pose1_to_pose2_press,0.622110502858,0.010054455004,1.06002903833,0.592681232543,0.0187271877668,1.05969833278
+212,3.533333333,pose1_to_pose2_press,0.622174585768,0.0100544842969,1.060028956,0.592745314891,0.0187272151437,1.05969824362
+213,3.550000000,pose1_to_pose2_press,0.622227249874,0.0100544702564,1.06002910852,0.592797979267,0.0187272024487,1.05969839446
+214,3.566666667,pose1_to_pose2_press,0.622270132577,0.0100544892755,1.06002896557,0.592840861086,0.0187272184695,1.0596982607
+215,3.583333333,pose1_to_pose2_press,0.622303477463,0.0100545724941,1.06002911501,0.592874206561,0.0187273034569,1.05969841162
+216,3.600000000,pose1_to_pose2_press,0.622329523841,0.0100545964426,1.06002926304,0.592900252608,0.0187273261381,1.05969855407
+217,3.616666667,pose1_to_pose2_press,0.62234861385,0.0100545536266,1.06002921875,0.59291934198,0.018727281305,1.05969850915
+218,3.633333333,pose1_to_pose2_press,0.62236248876,0.0100544898024,1.06002911414,0.592933217517,0.0187272199045,1.05969840818
+219,3.650000000,pose1_to_pose2_press,0.622372438161,0.0100544057823,1.06002903308,0.592943168964,0.0187271428845,1.05969832404
+220,3.666666667,pose1_to_pose2_press,0.622379616881,0.0100545510828,1.06002911494,0.592950344373,0.0187272767002,1.05969840006
+221,3.683333333,pose1_to_pose2_press,0.622384931835,0.0100546317818,1.06002916541,0.592955657885,0.0187273524879,1.05969845118
+222,3.700000000,pose1_to_pose2_press,0.622388493804,0.0100545373464,1.06002911424,0.592959223102,0.0187272695256,1.05969841194
+223,3.716666667,pose1_to_pose2_press,0.622390860913,0.0100545180915,1.06002918795,0.592961590729,0.0187272520118,1.05969848556
+224,3.733333333,pose1_to_pose2_press,0.622392150592,0.0100545356594,1.06002929759,0.592962879634,0.0187272667337,1.05969858999
+225,3.750000000,pose1_to_pose2_press,0.622392603345,0.0100545418268,1.06002933608,0.592963332115,0.0187272719019,1.05969862664
+226,3.766666667,pose1_to_pose2_press,0.622392760993,0.0100545439742,1.06002934948,0.592963489668,0.0187272737015,1.05969863941
+227,3.783333333,pose1_to_pose2_press,0.622393188306,0.010054549795,1.06002938581,0.592963916724,0.0187272785793,1.05969867401
+228,3.800000000,pose1_to_pose2_press,0.622393619363,0.0100545492304,1.06002936615,0.592964347752,0.0187272778989,1.05969865397
+229,3.816666667,pose1_to_pose2_press,0.622393922368,0.0100545436911,1.06002930736,0.592964650918,0.0187272729458,1.059698596
+230,3.833333333,pose1_to_pose2_press,0.622394198022,0.0100545386519,1.06002925387,0.592964926719,0.0187272684398,1.05969854325
+231,3.850000000,pose1_to_pose2_press,0.62239437614,0.0100545353957,1.0600292193,0.592965104932,0.0187272655282,1.05969850917
+232,3.866666667,pose1_to_pose2_press,0.62239441815,0.0100545346277,1.06002921115,0.592965146964,0.0187272648414,1.05969850114
+233,3.883333333,pose1_to_pose2_press,0.622394479144,0.0100545335127,1.06002919932,0.59296520799,0.0187272638444,1.05969848947
+234,3.900000000,pose1_to_pose2_press,0.622394483657,0.0100545334302,1.06002919844,0.592965212506,0.0187272637706,1.0596984886
+235,3.916666667,pose1_to_pose2_press,0.622394627465,0.0100545308013,1.06002917054,0.59296535639,0.0187272614199,1.05969846109
+236,3.933333333,pose1_to_pose2_press,0.622394954678,0.0100545248195,1.06002910704,0.592965683778,0.018727256071,1.05969839848
+237,3.950000000,pose1_to_pose2_press,0.6223951767,0.0100545207607,1.06002906396,0.592965905919,0.0187272524417,1.059698356
+238,3.966666667,pose1_to_pose2_press,0.622395379976,0.010054515622,1.06002903708,0.592966109302,0.0187272476872,1.05969832952
+239,3.983333333,pose1_to_pose2_press,0.62239565626,0.0100544960203,1.060029112,0.592966385721,0.0187272285262,1.05969840361
+240,4.000000000,pose1_to_pose2_press,0.622395830284,0.0100544836737,1.06002915919,0.59296655983,0.0187272164572,1.05969845027
+241,4.016666667,pose1_to_pose2_press,0.622395838305,0.0100544831046,1.06002916137,0.592966567855,0.0187272159009,1.05969845243
+242,4.033333333,pose1_to_pose2_press,0.622395946471,0.0100544754305,1.0600291907,0.592966676074,0.0187272083994,1.05969848143
+243,4.050000000,pose1_to_pose2_press,0.622396153944,0.0100544607107,1.06002924696,0.592966883648,0.0187271940106,1.05969853707
+244,4.066666667,pose1_to_pose2_press,0.62239631664,0.0100544570408,1.06002931522,0.592967046818,0.0187271918984,1.05969860377
+245,4.083333333,pose1_to_pose2_press,0.622396454683,0.010054458086,1.0600293859,0.59296718547,0.0187271949509,1.05969867255
+246,4.100000000,pose1_to_pose2_press,0.622396483383,0.0100544583033,1.06002940059,0.592967214298,0.0187271955825,1.05969868685
+247,4.116666667,pose2_hold,0.622396483383,0.0100544583033,1.06002940059,0.592967214306,0.018727195575,1.05969868685
+248,4.133333333,pose2_hold,0.622396483383,0.0100544583033,1.06002940059,0.592967214307,0.0187271955748,1.05969868685
+249,4.150000000,pose2_hold,0.622396483383,0.0100544583033,1.06002940059,0.592967214307,0.0187271955746,1.05969868685
+250,4.166666667,pose2_hold,0.622396483383,0.0100544583033,1.06002940059,0.592967214307,0.0187271955746,1.05969868685
+251,4.183333333,pose2_hold,0.622396483383,0.0100544583033,1.06002940059,0.592967214307,0.0187271955745,1.05969868685
+252,4.200000000,pose2_hold,0.622396483383,0.0100544583033,1.06002940059,0.592967214307,0.0187271955743,1.05969868685
+253,4.216666667,pose2_hold,0.622396483383,0.0100544583033,1.06002940059,0.592967214308,0.0187271955742,1.05969868685
+254,4.233333333,pose2_hold,0.622396483383,0.0100544583033,1.06002940059,0.592967214308,0.0187271955742,1.05969868685
+255,4.250000000,pose2_hold,0.622396483383,0.0100544583033,1.06002940059,0.592967214308,0.0187271955741,1.05969868685
+256,4.266666667,pose2_hold,0.622396483383,0.0100544583033,1.06002940059,0.592967214308,0.018727195574,1.05969868685
+257,4.283333333,pose2_hold,0.622396483383,0.0100544583033,1.06002940059,0.592967214308,0.0187271955739,1.05969868685
+258,4.300000000,pose2_hold,0.622396483383,0.0100544583033,1.06002940059,0.592967214308,0.0187271955738,1.05969868685
+259,4.316666667,pose2_hold,0.622396483383,0.0100544583033,1.06002940059,0.592967214308,0.0187271955738,1.05969868685
+260,4.333333333,pose2_hold,0.622396483383,0.0100544583033,1.06002940059,0.592967214309,0.0187271955737,1.05969868685
+261,4.350000000,pose2_hold,0.622396483383,0.0100544583033,1.06002940059,0.592967214308,0.0187271955735,1.05969868685
+262,4.366666667,pose2_hold,0.622396483383,0.0100544583033,1.06002940059,0.592967214309,0.0187271955735,1.05969868685
+263,4.383333333,pose2_hold,0.622396483383,0.0100544583033,1.06002940059,0.592967214309,0.0187271955734,1.05969868685
+264,4.400000000,pose2_hold,0.622396483383,0.0100544583033,1.06002940059,0.592967214309,0.0187271955733,1.05969868685
+265,4.416666667,pose2_to_pose3_retreat,0.622396483383,0.0100544583033,1.06002940059,0.592967214309,0.0187271955727,1.05969868685
+266,4.433333333,pose2_to_pose3_retreat,0.622396424023,0.0100545443791,1.06002938501,0.592967153319,0.0187272762564,1.05969867514
+267,4.450000000,pose2_to_pose3_retreat,0.622396362832,0.0100545805943,1.06002938272,0.592967091581,0.0187273106565,1.05969867389
+268,4.466666667,pose2_to_pose3_retreat,0.622396281452,0.0100545725768,1.06002939443,0.592967010689,0.0187273042298,1.05969868379
+269,4.483333333,pose2_to_pose3_retreat,0.622396153573,0.0100545599784,1.06002941282,0.592966883576,0.018727294131,1.05969869934
+270,4.500000000,pose2_to_pose3_retreat,0.622395749185,0.0100545498355,1.06002934426,0.592966479505,0.0187272851202,1.05969863208
+271,4.516666667,pose2_to_pose3_retreat,0.622393943196,0.0100545497137,1.06002917241,0.592964672826,0.018727282958,1.05969846789
+272,4.533333333,pose2_to_pose3_retreat,0.622389164021,0.0100545530464,1.06002926252,0.592959893986,0.0187272872091,1.05969855289
+273,4.550000000,pose2_to_pose3_retreat,0.622378382172,0.0100544987154,1.06002912574,0.592949110888,0.018727228088,1.05969840255
+274,4.566666667,pose2_to_pose3_retreat,0.622357590963,0.0100545106155,1.06002916241,0.592928319741,0.0187272409377,1.05969845894
+275,4.583333333,pose2_to_pose3_retreat,0.622325037412,0.0100546882811,1.06002939557,0.592895765459,0.018727415652,1.0596986769
+276,4.600000000,pose2_to_pose3_retreat,0.622280120002,0.0100544980554,1.06002902411,0.592850849757,0.0187272317769,1.05969832112
+277,4.616666667,pose2_to_pose3_retreat,0.622223603315,0.0100545864347,1.06002925912,0.592794331969,0.018727316399,1.05969855119
+278,4.633333333,pose2_to_pose3_retreat,0.622155880184,0.0100544952992,1.06002925228,0.592726609482,0.0187272275248,1.05969854568
+279,4.650000000,pose2_to_pose3_retreat,0.622078900332,0.0100545883458,1.06002916828,0.592649629345,0.0187273189556,1.05969845933
+280,4.666666667,pose2_to_pose3_retreat,0.621992178167,0.0100547204726,1.06002935351,0.592562905028,0.0187274436201,1.05969864287
+281,4.683333333,pose2_to_pose3_retreat,0.621892617219,0.0100545873424,1.0600292235,0.592463346199,0.0187273174811,1.05969850997
+282,4.700000000,pose2_to_pose3_retreat,0.621779577178,0.0100544597834,1.06002924194,0.592350307898,0.0187271958032,1.05969853138
+283,4.716666667,pose2_to_pose3_retreat,0.621649031071,0.0100546089462,1.06002909096,0.592219759267,0.0187273365116,1.05969838655
+284,4.733333333,pose2_to_pose3_retreat,0.621501464582,0.0100546056222,1.06002893191,0.592072192944,0.018727333581,1.05969822706
+285,4.750000000,pose2_to_pose3_retreat,0.621335490632,0.0100545661533,1.06002887736,0.591906219439,0.0187272955169,1.05969817449
+286,4.766666667,pose2_to_pose3_retreat,0.621150678529,0.0100546076087,1.06002908863,0.591721406357,0.0187273333291,1.0596983808
+287,4.783333333,pose2_to_pose3_retreat,0.620945312322,0.0100545844955,1.06002917463,0.59151604063,0.0187273114763,1.05969846138
+288,4.800000000,pose2_to_pose3_retreat,0.620718333659,0.0100546180221,1.06002903497,0.591289061897,0.0187273445795,1.05969832392
+289,4.816666667,pose2_to_pose3_retreat,0.620468765295,0.0100546870972,1.06002897216,0.591039492509,0.0187274100717,1.05969826569
+290,4.833333333,pose2_to_pose3_retreat,0.620190841519,0.0100546070852,1.06002892414,0.590761569338,0.018727331992,1.05969822173
+291,4.850000000,pose2_to_pose3_retreat,0.619886572656,0.0100545811002,1.06002902448,0.590457300897,0.0187273069628,1.0596983165
+292,4.866666667,pose2_to_pose3_retreat,0.619554899229,0.0100544669981,1.06002901005,0.590125630574,0.0187272033023,1.05969830393
+293,4.883333333,pose2_to_pose3_retreat,0.619195255352,0.0100544856983,1.06002902874,0.589765985758,0.0187272184441,1.05969831973
+294,4.900000000,pose2_to_pose3_retreat,0.618806823828,0.0100544673978,1.06002895826,0.589377553894,0.0187271988772,1.05969825506
+295,4.916666667,pose2_to_pose3_retreat,0.618393003433,0.0100545142757,1.06002888076,0.588963735169,0.018727251394,1.05969818516
+296,4.933333333,pose2_to_pose3_retreat,0.617955748169,0.0100546081453,1.06002899197,0.588526478679,0.0187273404409,1.05969828978
+297,4.950000000,pose2_to_pose3_retreat,0.617496829395,0.0100546490167,1.0600289983,0.588067558431,0.0187273760688,1.05969829699
+298,4.966666667,pose2_to_pose3_retreat,0.617020306218,0.0100546083014,1.06002906708,0.587591034453,0.0187273319059,1.0596983557
+299,4.983333333,pose2_to_pose3_retreat,0.616525683845,0.0100546252663,1.06002919042,0.587096413746,0.0187273541609,1.05969847722
+300,5.000000000,pose2_to_pose3_retreat,0.616004254168,0.0100548546432,1.06002931529,0.586574981938,0.0187275757876,1.05969859641
+301,5.016666667,pose2_to_pose3_retreat,0.615452414951,0.0100545118892,1.06002928751,0.586023146017,0.0187272441013,1.05969857253
+302,5.033333333,pose2_to_pose3_retreat,0.614859192866,0.0100545503602,1.06002916141,0.585429923682,0.0187272817385,1.05969845173
+303,5.050000000,pose2_to_pose3_retreat,0.614229312557,0.0100547115433,1.06002924522,0.584800042343,0.01872743952,1.05969853765
+304,5.066666667,pose2_to_pose3_retreat,0.6135688714,0.0100545934887,1.06002878429,0.584139601051,0.0187273211899,1.05969808291
+305,5.083333333,pose2_to_pose3_retreat,0.612888840768,0.0100545353769,1.06002924074,0.583459570898,0.0187272645536,1.05969853728
+306,5.100000000,pose2_to_pose3_retreat,0.612191731987,0.0100545052557,1.06002925846,0.582762462728,0.018727236386,1.05969854948
+307,5.116666667,pose2_to_pose3_retreat,0.611479476198,0.0100546494912,1.06002913831,0.582050205974,0.0187273773963,1.05969843034
+308,5.133333333,pose2_to_pose3_retreat,0.610748426739,0.010054445952,1.0600288651,0.58131915933,0.0187271837451,1.0596981659
+309,5.150000000,pose2_to_pose3_retreat,0.609991597015,0.0100545918752,1.06002900767,0.580562327639,0.0187273228209,1.05969830314
+310,5.166666667,pose2_to_pose3_retreat,0.60921151236,0.010054592872,1.06002902269,0.579782240997,0.0187273169039,1.05969831424
+311,5.183333333,pose2_to_pose3_retreat,0.608408843401,0.0100546009051,1.06002931381,0.578979572518,0.0187273260134,1.05969859171
+312,5.200000000,pose2_to_pose3_retreat,0.607579059089,0.0100545053497,1.06002942812,0.578149790072,0.0187272369243,1.059698709
+313,5.216666667,pose2_to_pose3_retreat,0.606718605926,0.010054668327,1.06002914395,0.577289334436,0.0187273918754,1.05969843492
+314,5.233333333,pose2_to_pose3_retreat,0.60583504178,0.0100545192759,1.06002899783,0.576405773409,0.0187272537638,1.05969829529
+315,5.250000000,pose2_to_pose3_retreat,0.604937582862,0.0100545095863,1.06002904698,0.575508313465,0.0187272401777,1.05969833634
+316,5.266666667,pose2_to_pose3_retreat,0.604048582049,0.0100543999552,1.06002917499,0.574619315583,0.0187271403172,1.05969845933
+317,5.283333333,pose2_to_pose3_retreat,0.603169782595,0.0100544731472,1.06002914817,0.573740514633,0.0187272086277,1.05969843767
+318,5.300000000,pose2_to_pose3_retreat,0.602296621385,0.0100545117556,1.06002912922,0.572867351778,0.0187272419363,1.05969842601
+319,5.316666667,pose2_to_pose3_retreat,0.601423983696,0.0100544757953,1.06002928214,0.571994715036,0.0187272088386,1.05969856992
+320,5.333333333,pose2_to_pose3_retreat,0.600541993496,0.01005462063,1.06002901937,0.571112722181,0.0187273448762,1.05969831348
+321,5.350000000,pose2_to_pose3_retreat,0.599621436943,0.0100545788857,1.06002901067,0.570192168136,0.0187273117094,1.05969830597
+322,5.366666667,pose2_to_pose3_retreat,0.598678061448,0.010054436741,1.06002919844,0.569248795125,0.0187271775225,1.05969848045
+323,5.383333333,pose2_to_pose3_retreat,0.597723012057,0.0100545837137,1.06002938328,0.568293743351,0.0187273165855,1.05969866988
+324,5.400000000,pose2_to_pose3_retreat,0.596782774817,0.0100545574448,1.06002916416,0.567353505399,0.0187272877921,1.05969844798
+325,5.416666667,pose2_to_pose3_retreat,0.595869496264,0.0100545408453,1.06002904091,0.566440226823,0.0187272713889,1.05969833244
+326,5.433333333,pose2_to_pose3_retreat,0.594988444702,0.0100545011426,1.06002913414,0.565559176203,0.018727234938,1.05969842666
+327,5.450000000,pose2_to_pose3_retreat,0.594135747716,0.0100546034958,1.06002910459,0.564706478208,0.0187273339422,1.05969839891
+328,5.466666667,pose2_to_pose3_retreat,0.593300292902,0.0100546448238,1.06002887353,0.563871022738,0.0187273733087,1.05969817482
+329,5.483333333,pose2_to_pose3_retreat,0.592460612241,0.0100545131611,1.06002901609,0.563031342251,0.0187272420008,1.05969831119
+330,5.500000000,pose2_to_pose3_retreat,0.591608077257,0.0100546591671,1.06002925105,0.56217880551,0.0187273819368,1.05969854294
+331,5.516666667,pose2_to_pose3_retreat,0.590746033476,0.0100545557938,1.06002905282,0.561316763562,0.018727284694,1.05969834222
+332,5.533333333,pose2_to_pose3_retreat,0.589879053964,0.0100546471859,1.06002940333,0.560449784469,0.0187273772257,1.05969868523
+333,5.550000000,pose2_to_pose3_retreat,0.589047085081,0.0100545355517,1.06002915033,0.559617816032,0.018727267562,1.05969844414
+334,5.566666667,pose2_to_pose3_retreat,0.588251270135,0.0100544381709,1.06002923062,0.558822003674,0.0187271789127,1.05969852309
+335,5.583333333,pose2_to_pose3_retreat,0.587496463839,0.0100546265773,1.06002903602,0.558067193111,0.0187273528849,1.05969832957
+336,5.600000000,pose2_to_pose3_retreat,0.5867754678,0.0100545786731,1.06002913994,0.55734619717,0.0187273052777,1.05969843263
+337,5.616666667,pose2_to_pose3_retreat,0.586082376804,0.0100544586768,1.06002920589,0.556653108899,0.0187271939335,1.0596984829
+338,5.633333333,pose2_to_pose3_retreat,0.58539166989,0.0100545403436,1.06002941764,0.555962402706,0.0187272783211,1.05969870175
+339,5.650000000,pose2_to_pose3_retreat,0.584703443056,0.0100546375256,1.06002909345,0.555274172966,0.0187273654152,1.05969837158
+340,5.666666667,pose2_to_pose3_retreat,0.584025475451,0.0100545986246,1.06002927739,0.55459620525,0.0187273264933,1.05969856476
+341,5.683333333,pose2_to_pose3_retreat,0.583369929733,0.0100543065979,1.06002906054,0.553940662631,0.0187270448377,1.05969834435
+342,5.700000000,pose2_to_pose3_retreat,0.582747103477,0.0100544569635,1.06002916518,0.553317834008,0.0187271873276,1.05969845274
+343,5.716666667,pose2_to_pose3_retreat,0.58215740187,0.010054487921,1.06002927117,0.552728133119,0.0187272205179,1.05969855279
+344,5.733333333,pose2_to_pose3_retreat,0.581599556289,0.0100544619652,1.06002896059,0.552170289222,0.0187272002595,1.05969824158
+345,5.750000000,pose2_to_pose3_retreat,0.581075181517,0.010054635704,1.06002901749,0.55164591237,0.0187273674561,1.05969831289
+346,5.766666667,pose2_to_pose3_retreat,0.580581927709,0.0100546686842,1.06002917932,0.551152657352,0.0187273959983,1.05969846643
+347,5.783333333,pose2_to_pose3_retreat,0.580121060985,0.0100546029041,1.06002927128,0.550691791523,0.0187273332707,1.05969855862
+348,5.800000000,pose2_to_pose3_retreat,0.579691904683,0.0100545957213,1.06002916532,0.550262635488,0.0187273270119,1.05969845274
+349,5.816666667,pose2_to_pose3_retreat,0.579295510328,0.0100545279266,1.06002918561,0.549866240756,0.0187272577197,1.05969846786
+350,5.833333333,pose2_to_pose3_retreat,0.578920052933,0.0100546644528,1.06002928578,0.549490783149,0.0187273936895,1.05969857206
+351,5.850000000,pose2_to_pose3_retreat,0.578564880121,0.0100546232381,1.06002916868,0.54913561016,0.0187273520118,1.05969845843
+352,5.866666667,pose2_to_pose3_retreat,0.578230044903,0.0100546485127,1.06002916422,0.548800773515,0.0187273723479,1.05969845122
+353,5.883333333,pose2_to_pose3_retreat,0.577914593317,0.010054615845,1.06002923521,0.548485323056,0.0187273438628,1.05969853158
+354,5.900000000,pose2_to_pose3_retreat,0.577619717542,0.0100545856899,1.06002916241,0.548190446901,0.0187273121018,1.05969845038
+355,5.916666667,pose2_to_pose3_retreat,0.57734889292,0.0100543978367,1.06002902519,0.547919626799,0.0187271397519,1.05969831771
+356,5.933333333,pose2_to_pose3_retreat,0.57710437765,0.0100545849217,1.06002926538,0.547675109064,0.0187273184799,1.05969855826
+357,5.950000000,pose2_to_pose3_retreat,0.576886566796,0.0100546068168,1.06002927107,0.547457296553,0.018727334701,1.05969856253
+358,5.966666667,pose2_to_pose3_retreat,0.576694103731,0.0100546524858,1.06002926218,0.547264834083,0.0187273823405,1.05969855225
+359,5.983333333,pose2_to_pose3_retreat,0.576528116896,0.0100546151779,1.06002917987,0.547098845347,0.018727338491,1.05969846748
+360,6.000000000,pose2_to_pose3_retreat,0.576382848455,0.01005459103,1.06002925334,0.546953578622,0.0187273200951,1.05969853906
+361,6.016666667,pose2_to_pose3_retreat,0.576256737814,0.0100546324975,1.0600290182,0.546827465969,0.0187273553138,1.0596983194
+362,6.033333333,pose2_to_pose3_retreat,0.576146719512,0.0100546351231,1.06002930781,0.54671744895,0.0187273615655,1.0596985919
+363,6.050000000,pose2_to_pose3_retreat,0.576052510213,0.0100545636318,1.06002924516,0.546623241682,0.0187272972836,1.05969853895
+364,6.066666667,pose2_to_pose3_retreat,0.575973332367,0.0100544565346,1.06002915892,0.546544063334,0.0187271885723,1.05969845337
+365,6.083333333,pose2_to_pose3_retreat,0.575907831031,0.0100547290108,1.0600292111,0.546478560435,0.0187274556086,1.05969850253
+366,6.100000000,pose2_to_pose3_retreat,0.575855826588,0.0100546148045,1.06002898434,0.546426556412,0.0187273424801,1.05969826696
+367,6.116666667,pose2_to_pose3_retreat,0.575814694669,0.0100546264251,1.06002916567,0.546385424776,0.0187273552851,1.05969845408
+368,6.133333333,pose2_to_pose3_retreat,0.575783904845,0.0100546042109,1.06002914364,0.546354635732,0.0187273359856,1.05969843688
+369,6.150000000,pose2_to_pose3_retreat,0.575760184851,0.0100545050145,1.06002914626,0.546330916599,0.0187272396368,1.05969843798
+370,6.166666667,pose2_to_pose3_retreat,0.575742960677,0.010054522748,1.06002913748,0.546313690175,0.0187272497488,1.05969842904
+371,6.183333333,pose2_to_pose3_retreat,0.575731134346,0.0100545368898,1.06002935363,0.546301864536,0.0187272660471,1.0596986403
+372,6.200000000,pose2_to_pose3_retreat,0.575723140712,0.0100545236477,1.06002924092,0.546293871508,0.0187272550647,1.05969853285
+373,6.216666667,pose2_to_pose3_retreat,0.575717979306,0.0100545334178,1.06002910297,0.546288710208,0.0187272652586,1.05969839663
+374,6.233333333,pose2_to_pose3_retreat,0.575715103424,0.0100545684653,1.06002905584,0.546285834073,0.0187272992815,1.05969834519
+375,6.250000000,pose2_to_pose3_retreat,0.575714202037,0.0100545796048,1.06002905235,0.546284932587,0.0187273100274,1.05969834025
+376,6.266666667,pose2_to_pose3_retreat,0.575713670668,0.0100545871726,1.06002912345,0.546284401029,0.0187273168941,1.05969840976
+377,6.283333333,pose2_to_pose3_retreat,0.575713358869,0.0100545916133,1.06002916516,0.546284089119,0.0187273209233,1.05969845055
+378,6.300000000,pose2_to_pose3_retreat,0.57571332315,0.0100545921221,1.06002916994,0.546284053387,0.0187273213849,1.05969845522
+379,6.316666667,pose2_to_pose3_retreat,0.57571329353,0.0100545925439,1.0600291739,0.546284023757,0.0187273217677,1.05969845909
+380,6.333333333,pose2_to_pose3_retreat,0.575713239512,0.0100545933132,1.06002918113,0.54628396972,0.0187273224657,1.05969846616
+381,6.350000000,pose2_to_pose3_retreat,0.575712942368,0.0100545975452,1.06002922088,0.54628367247,0.0187273263056,1.05969850503
+382,6.366666667,pose2_to_pose3_retreat,0.575712528291,0.0100546034426,1.06002927628,0.546283258246,0.0187273316566,1.0596985592
+383,6.383333333,pose2_to_pose3_retreat,0.575712301914,0.0100546066667,1.06002930657,0.546283031788,0.018727334582,1.05969858882
+384,6.400000000,pose2_to_pose3_retreat,0.575712277754,0.0100546070108,1.0600293098,0.54628300762,0.0187273348942,1.05969859198
+385,6.416666667,pose2_to_pose3_retreat,0.57571218957,0.0100546082668,1.0600293216,0.546282919404,0.0187273360338,1.05969860351
+386,6.433333333,pose2_to_pose3_retreat,0.575712003897,0.0100546109111,1.06002934644,0.546282733666,0.0187273384331,1.0596986278
+387,6.450000000,pose2_to_pose3_retreat,0.575711656727,0.0100546158556,1.06002939289,0.546282386371,0.0187273429195,1.05969867322
+388,6.466666667,pose2_to_pose3_retreat,0.575711340727,0.0100546203561,1.06002943516,0.54628207026,0.018727347003,1.05969871456
+389,6.483333333,pose2_to_pose3_retreat,0.575711067402,0.0100546309119,1.06002938136,0.546281796673,0.0187273567602,1.05969866306
+390,6.500000000,pose2_to_pose3_retreat,0.575710843228,0.0100546398132,1.06002933393,0.546281572279,0.0187273649905,1.05969861763
+391,6.516666667,pose2_to_pose3_retreat,0.575710707805,0.0100546451905,1.06002930527,0.546281436723,0.0187273699624,1.05969859019
+392,6.533333333,pose2_to_pose3_retreat,0.575710594574,0.0100546496865,1.06002928132,0.546281323381,0.0187273741196,1.05969856724
+393,6.550000000,pose2_to_pose3_retreat,0.575710469805,0.0100546546408,1.06002925492,0.546281198489,0.0187273787003,1.05969854195
+394,6.566666667,pose2_to_pose3_retreat,0.575710057509,0.0100546710119,1.06002916768,0.546280785788,0.0187273938373,1.0596984584
+395,6.583333333,pose2_to_pose3_retreat,0.575709849832,0.0100546817982,1.06002913617,0.546280577858,0.0187274038419,1.0596984289
+396,6.600000000,pose2_to_pose3_retreat,0.57570967234,0.0100546945503,1.06002912652,0.546280400082,0.018727415703,1.05969842119
+397,6.616666667,pose2_to_pose3_retreat,0.575709315748,0.0100547201698,1.06002910715,0.546280042919,0.0187274395325,1.0596984057
+398,6.633333333,pose2_to_pose3_retreat,0.575709257142,0.0100547338644,1.0600291963,0.546279984558,0.0187274538874,1.05969849038
+399,6.650000000,pose2_to_pose3_retreat,0.575709246638,0.0100547406026,1.06002925397,0.546279974251,0.018727461175,1.05969854495
+400,6.666666667,pose2_to_pose3_retreat,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628183,1.05969855726
+401,6.683333333,pose2_to_pose3_retreat,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628183,1.05969855726

Part2/Obstacle_avoidance/cylinder_0050_20/position_12/depth_01/fem_node.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd05037005cc59aa6e4f5ec0e5374ccc8e74e0af1bcd15fc7e9b8efdcb7c366e
+size 24853261

Part2/Obstacle_avoidance/cylinder_0050_20/position_12/depth_01/simulation_data.csv

@@ -0,0 +1,392 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+1,0.016666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+2,0.033333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+3,0.050000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+4,0.066666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+5,0.083333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+6,0.100000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+7,0.116666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+8,0.133333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+9,0.150000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+10,0.166666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+11,0.183333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+12,0.200000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+13,0.216666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+14,0.233333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+15,0.250000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+16,0.266666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+17,0.283333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+18,0.300000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+19,0.316666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+20,0.333333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+21,0.350000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+22,0.366666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+23,0.383333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+24,0.400000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+25,0.416666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+26,0.433333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+27,0.450000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+28,0.466666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+29,0.483333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+30,0.500000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+31,0.516666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+32,0.533333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+33,0.550000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+34,0.566666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+35,0.583333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+36,0.600000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+37,0.616666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+38,0.633333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+39,0.650000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+40,0.666666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+41,0.683333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+42,0.700000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+43,0.716666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+44,0.733333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+45,0.750000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+46,0.766666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+47,0.783333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+48,0.800000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+49,0.816666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+50,0.833333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+51,0.850000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+52,0.866666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+53,0.883333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+54,0.900000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+55,0.916666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+56,0.933333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+57,0.950000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+58,0.966666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+59,0.983333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+60,1.000000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+61,1.016666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+62,1.033333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+63,1.050000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+64,1.066666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+65,1.083333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+66,1.100000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+67,1.116666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+68,1.133333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+69,1.150000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+70,1.166666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+71,1.183333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+72,1.200000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+73,1.216666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+74,1.233333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+75,1.250000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+76,1.266666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+77,1.283333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+78,1.300000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+79,1.316666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+80,1.333333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+81,1.350000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+82,1.366666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+83,1.383333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+84,1.400000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+85,1.416666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+86,1.433333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+87,1.450000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+88,1.466666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+89,1.483333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+90,1.500000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+91,1.516666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+92,1.533333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+93,1.550000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+94,1.566666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+95,1.583333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+96,1.600000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+97,1.616666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+98,1.633333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+99,1.650000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+100,1.666666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+101,1.683333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+102,1.700000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+103,1.716666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+104,1.733333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+105,1.750000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+106,1.766666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+107,1.783333333,pose1_to_pose2_press,0.575709270927,0.0100545684129,1.07002931416,0.546280001826,0.0187272996178,1.06969859147
+108,1.800000000,pose1_to_pose2_press,0.575709348171,0.0100545933349,1.0700290262,0.546280078266,0.0187273223062,1.06969831659
+109,1.816666667,pose1_to_pose2_press,0.575709460415,0.01005459742,1.07002889247,0.546280189906,0.0187273245844,1.06969818918
+110,1.833333333,pose1_to_pose2_press,0.575709630083,0.0100545748734,1.07002894485,0.546280359168,0.0187273005926,1.06969823977
+111,1.850000000,pose1_to_pose2_press,0.575709729384,0.0100545616776,1.0700289755,0.546280458231,0.0187272865511,1.06969826938
+112,1.866666667,pose1_to_pose2_press,0.575709839099,0.010054547098,1.07002900937,0.546280567684,0.0187272710369,1.0696983021
+113,1.883333333,pose1_to_pose2_press,0.575710855621,0.0100545250195,1.07002921144,0.5462815859,0.0187272543824,1.06969849565
+114,1.900000000,pose1_to_pose2_press,0.575713883771,0.010054590431,1.07002902572,0.546284612124,0.0187273136193,1.06969831938
+115,1.916666667,pose1_to_pose2_press,0.575721508253,0.0100543789819,1.07002926984,0.546292240567,0.0187271153974,1.06969855787
+116,1.933333333,pose1_to_pose2_press,0.575736976981,0.0100545978708,1.07002926551,0.546307706367,0.0187273243597,1.06969855373
+117,1.950000000,pose1_to_pose2_press,0.57576250141,0.010054570097,1.07002918427,0.546333231431,0.0187272989656,1.06969847822
+118,1.966666667,pose1_to_pose2_press,0.575800619672,0.0100546457529,1.07002892819,0.54637134828,0.0187273698037,1.06969822151
+119,1.983333333,pose1_to_pose2_press,0.575851029614,0.0100546737373,1.07002912219,0.546421759035,0.0187274006167,1.06969841728
+120,2.000000000,pose1_to_pose2_press,0.575914477054,0.0100546070965,1.07002924833,0.546485207255,0.0187273365805,1.06969854231
+121,2.016666667,pose1_to_pose2_press,0.575989239689,0.0100546429894,1.0700290102,0.546559968637,0.018727368425,1.06969830937
+122,2.033333333,pose1_to_pose2_press,0.576075371195,0.0100545140328,1.07002914318,0.546646103148,0.0187272493221,1.06969843334
+123,2.050000000,pose1_to_pose2_press,0.576173942692,0.0100544767134,1.07002901671,0.546744673904,0.0187272095594,1.06969830859
+124,2.066666667,pose1_to_pose2_press,0.576285650772,0.0100545632937,1.07002906505,0.54685638153,0.0187272947622,1.06969836125
+125,2.083333333,pose1_to_pose2_press,0.576414570281,0.0100546582804,1.07002907575,0.546985300633,0.0187273881627,1.0696983665
+126,2.100000000,pose1_to_pose2_press,0.576561052541,0.0100546318079,1.07002902893,0.547131781276,0.0187273561645,1.06969831856
+127,2.116666667,pose1_to_pose2_press,0.576727625265,0.0100546188431,1.07002918187,0.547298356105,0.0187273503048,1.06969847037
+128,2.133333333,pose1_to_pose2_press,0.5769106435,0.0100546725544,1.07002927505,0.547481373655,0.0187274016449,1.06969856232
+129,2.150000000,pose1_to_pose2_press,0.577108972018,0.0100545998414,1.07002921455,0.547679701359,0.0187273260764,1.06969849925
+130,2.166666667,pose1_to_pose2_press,0.57732353666,0.0100546366044,1.07002915111,0.547894265282,0.0187273605609,1.06969844004
+131,2.183333333,pose1_to_pose2_press,0.57755544679,0.0100546838054,1.07002918935,0.548126175239,0.018727407342,1.06969848263
+132,2.200000000,pose1_to_pose2_press,0.577811954591,0.0100546430895,1.07002926086,0.548382684016,0.0187273697999,1.06969855041
+133,2.216666667,pose1_to_pose2_press,0.57809607875,0.0100546045477,1.07002921836,0.54866680918,0.0187273345685,1.06969850523
+134,2.233333333,pose1_to_pose2_press,0.578412643049,0.0100545154013,1.07002901485,0.548983374563,0.0187272493257,1.06969830756
+135,2.250000000,pose1_to_pose2_press,0.578757426568,0.0100545086961,1.07002900917,0.549328157722,0.018727241422,1.06969830251
+136,2.266666667,pose1_to_pose2_press,0.579128871544,0.0100545897446,1.07002919343,0.549699601501,0.0187273183672,1.0696984856
+137,2.283333333,pose1_to_pose2_press,0.579522530343,0.0100545462781,1.07002923767,0.550093261473,0.0187272789534,1.06969853166
+138,2.300000000,pose1_to_pose2_press,0.579937138279,0.0100545139843,1.07002913898,0.550507869049,0.0187272451859,1.06969842633
+139,2.316666667,pose1_to_pose2_press,0.580374665874,0.0100545958163,1.07002889378,0.550945395432,0.0187273229754,1.06969818291
+140,2.333333333,pose1_to_pose2_press,0.580835487763,0.0100545683657,1.07002896826,0.551406218233,0.0187272987267,1.06969826012
+141,2.350000000,pose1_to_pose2_press,0.58132149333,0.010054485981,1.0700290916,0.55189222401,0.0187272168753,1.06969837868
+142,2.366666667,pose1_to_pose2_press,0.581827802062,0.0100544918602,1.07002909919,0.552398533075,0.0187272238442,1.06969838516
+143,2.383333333,pose1_to_pose2_press,0.582354231587,0.0100545367448,1.07002914599,0.552924963477,0.0187272718252,1.06969843515
+144,2.400000000,pose1_to_pose2_press,0.582911636149,0.0100545509587,1.07002900787,0.553482367122,0.0187272831332,1.0696983024
+145,2.416666667,pose1_to_pose2_press,0.583499789925,0.0100545108555,1.07002901544,0.554070520144,0.0187272404474,1.06969830926
+146,2.433333333,pose1_to_pose2_press,0.584121614496,0.0100545713047,1.07002912136,0.554692345542,0.0187273037586,1.06969841665
+147,2.450000000,pose1_to_pose2_press,0.584769914059,0.0100546002575,1.07002916594,0.555340644944,0.0187273323381,1.06969846572
+148,2.466666667,pose1_to_pose2_press,0.585439171732,0.0100546437055,1.0700290225,0.556009900253,0.0187273675984,1.0696983179
+149,2.483333333,pose1_to_pose2_press,0.586116140102,0.0100545668396,1.07002898709,0.556686870143,0.0187272956472,1.06969827606
+150,2.500000000,pose1_to_pose2_press,0.586800192597,0.0100545384529,1.07002911143,0.55737092412,0.018727272243,1.06969839927
+151,2.516666667,pose1_to_pose2_press,0.587495649685,0.0100546374322,1.07002922206,0.558066380652,0.0187273694084,1.06969851178
+152,2.533333333,pose1_to_pose2_press,0.588210935321,0.0100545828655,1.07002920619,0.558781666653,0.0187273160112,1.06969849397
+153,2.550000000,pose1_to_pose2_press,0.588953231451,0.010054585346,1.0700291294,0.559523962003,0.0187273160282,1.06969842212
+154,2.566666667,pose1_to_pose2_press,0.589712046059,0.0100546814819,1.07002894839,0.560282775464,0.0187274086777,1.06969825174
+155,2.583333333,pose1_to_pose2_press,0.590482951212,0.0100546574571,1.07002887027,0.561053679936,0.0187273821004,1.06969816726
+156,2.600000000,pose1_to_pose2_press,0.591275414307,0.0100546198132,1.07002901888,0.561846143287,0.0187273452644,1.0696983142
+157,2.616666667,pose1_to_pose2_press,0.592082974833,0.01005456026,1.07002910231,0.562653704733,0.0187272889784,1.06969840146
+158,2.633333333,pose1_to_pose2_press,0.592895151425,0.010054495246,1.07002911084,0.563465882235,0.0187272269222,1.06969840659
+159,2.650000000,pose1_to_pose2_press,0.593716381741,0.0100546304615,1.07002921246,0.564287111068,0.0187273569763,1.06969850494
+160,2.666666667,pose1_to_pose2_press,0.594547536542,0.0100546241644,1.07002929719,0.565118265703,0.0187273497035,1.06969857889
+161,2.683333333,pose1_to_pose2_press,0.59537755056,0.0100546300789,1.07002930296,0.565948280114,0.0187273569178,1.06969858374
+162,2.700000000,pose1_to_pose2_press,0.596209587582,0.0100545033889,1.07002910067,0.566780318525,0.0187272352394,1.06969838941
+163,2.716666667,pose1_to_pose2_press,0.597044421791,0.0100545849316,1.07002909602,0.567615152015,0.0187273144267,1.06969838701
+164,2.733333333,pose1_to_pose2_press,0.597876408895,0.0100546037261,1.07002903594,0.568447138834,0.0187273324171,1.06969833126
+165,2.750000000,pose1_to_pose2_press,0.598696801324,0.0100546060104,1.07002909351,0.569267532214,0.0187273378342,1.06969838634
+166,2.766666667,pose1_to_pose2_press,0.599509479462,0.0100545344129,1.0700290329,0.57008021042,0.0187272665965,1.06969832918
+167,2.783333333,pose1_to_pose2_press,0.600320510297,0.0100546216898,1.07002915592,0.570891240063,0.0187273497734,1.06969845089
+168,2.800000000,pose1_to_pose2_press,0.601123942893,0.0100545695003,1.07002907605,0.571694673097,0.0187272991141,1.06969837221
+169,2.816666667,pose1_to_pose2_press,0.601926310286,0.0100545365211,1.07002906853,0.572497040993,0.0187272678581,1.06969836522
+170,2.833333333,pose1_to_pose2_press,0.602738454927,0.0100545658851,1.07002920065,0.573309185441,0.0187272964897,1.06969849534
+171,2.850000000,pose1_to_pose2_press,0.603545501413,0.0100546769102,1.07002915142,0.57411623108,0.0187274046965,1.06969844768
+172,2.866666667,pose1_to_pose2_press,0.604339405334,0.0100546426002,1.07002914136,0.574910133598,0.0187273654166,1.0696984322
+173,2.883333333,pose1_to_pose2_press,0.60512596174,0.0100546291434,1.07002916656,0.5756966909,0.0187273547744,1.06969845165
+174,2.900000000,pose1_to_pose2_press,0.605901433397,0.0100546056804,1.07002911372,0.576472162635,0.0187273319686,1.06969840916
+175,2.916666667,pose1_to_pose2_press,0.606642629145,0.010054541189,1.07002893061,0.577213357814,0.0187272655333,1.06969822572
+176,2.933333333,pose1_to_pose2_press,0.607353849279,0.0100545237227,1.07002908846,0.577924580418,0.0187272563104,1.0696983801
+177,2.950000000,pose1_to_pose2_press,0.608043171637,0.0100545081304,1.07002913143,0.578613902778,0.0187272408303,1.06969842582
+178,2.966666667,pose1_to_pose2_press,0.608714790573,0.0100546526053,1.0700293254,0.579285520077,0.018727379585,1.06969861558
+179,2.983333333,pose1_to_pose2_press,0.609371116961,0.0100546581738,1.07002909286,0.57994184632,0.0187273847749,1.06969838617
+180,3.000000000,pose1_to_pose2_press,0.610021388313,0.0100545791697,1.07002899888,0.580592117555,0.018727305458,1.06969829449
+181,3.016666667,pose1_to_pose2_press,0.610658242406,0.0100545447309,1.07002900804,0.581228972827,0.018727274979,1.06969830261
+182,3.033333333,pose1_to_pose2_press,0.611264476203,0.0100545384532,1.07002924537,0.58183520695,0.0187272695112,1.06969853221
+183,3.050000000,pose1_to_pose2_press,0.611838772938,0.0100546176243,1.07002905756,0.582409502112,0.0187273435278,1.06969834928
+184,3.066666667,pose1_to_pose2_press,0.612377892844,0.01005470057,1.07002922625,0.582948621021,0.0187274229802,1.06969851518
+185,3.083333333,pose1_to_pose2_press,0.612888664263,0.0100545978325,1.07002906909,0.583459394229,0.0187273263166,1.06969835814
+186,3.100000000,pose1_to_pose2_press,0.613371918342,0.0100545221938,1.07002902686,0.583942649264,0.018727253914,1.06969831553
+187,3.116666667,pose1_to_pose2_press,0.613831552502,0.0100544373942,1.07002904222,0.584402283464,0.0187271691311,1.06969832683
+188,3.133333333,pose1_to_pose2_press,0.614266273468,0.0100544840071,1.07002893472,0.584837003575,0.0187272131889,1.06969822735
+189,3.150000000,pose1_to_pose2_press,0.614669337414,0.0100547258207,1.07002901037,0.585240065564,0.0187274488288,1.06969831393
+190,3.166666667,pose1_to_pose2_press,0.615045916898,0.010054652596,1.0700291335,0.585616647017,0.0187273819665,1.06969842733
+191,3.183333333,pose1_to_pose2_press,0.615397511808,0.0100545458001,1.07002929052,0.585968241711,0.0187272741687,1.069698576
+192,3.200000000,pose1_to_pose2_press,0.615731633821,0.0100545256061,1.07002916366,0.58630236315,0.0187272522655,1.06969845366
+193,3.216666667,pose1_to_pose2_press,0.616051914665,0.0100544712944,1.07002904469,0.586622645781,0.018727204188,1.06969833605
+194,3.233333333,pose1_to_pose2_press,0.616362324345,0.0100545405742,1.07002912381,0.58693305496,0.0187272718174,1.06969841225
+195,3.250000000,pose1_to_pose2_press,0.616659245912,0.0100546532486,1.07002889293,0.587229975828,0.018727382494,1.06969818684
+196,3.266666667,pose1_to_pose2_press,0.616935920975,0.0100545559558,1.07002902451,0.587506651442,0.0187272870504,1.06969831371
+197,3.283333333,pose1_to_pose2_press,0.617185964133,0.0100545830798,1.07002913526,0.587756693859,0.0187273118905,1.06969842575
+198,3.300000000,pose1_to_pose2_press,0.617407072055,0.0100545531644,1.07002934962,0.587977803225,0.0187272869953,1.06969863947
+199,3.316666667,pose1_to_pose2_press,0.617601928419,0.0100544844228,1.07002921956,0.588172660254,0.0187272206145,1.06969850964
+200,3.333333333,pose1_to_pose2_press,0.617773948742,0.0100545828253,1.07002907873,0.588344678314,0.0187273115025,1.06969837142
+201,3.350000000,pose1_to_pose2_press,0.617926312302,0.0100546271576,1.07002914348,0.588497040831,0.0187273523257,1.06969843426
+202,3.366666667,pose1_to_pose2_press,0.618061261618,0.0100546605388,1.07002918082,0.588631990195,0.0187273861846,1.0696984768
+203,3.383333333,pose1_to_pose2_press,0.618178358381,0.010054636837,1.07002920506,0.588749086643,0.0187273612138,1.06969849404
+204,3.400000000,pose1_to_pose2_press,0.618279105231,0.0100545841488,1.07002916897,0.588849834319,0.0187273112196,1.06969845329
+205,3.416666667,pose1_to_pose2_press,0.618364096044,0.0100546237315,1.07002918436,0.588934825766,0.0187273534839,1.06969847599
+206,3.433333333,pose1_to_pose2_press,0.618435537403,0.0100546041831,1.07002927083,0.589006266367,0.0187273314067,1.06969855861
+207,3.450000000,pose1_to_pose2_press,0.618495682383,0.0100545240047,1.07002925425,0.589066411852,0.0187272525328,1.06969854103
+208,3.466666667,pose1_to_pose2_press,0.618546122049,0.0100547255592,1.07002915372,0.589116849649,0.0187274478778,1.06969844253
+209,3.483333333,pose1_to_pose2_press,0.618588396402,0.0100546494275,1.07002915953,0.589159125523,0.0187273772114,1.06969844729
+210,3.500000000,pose1_to_pose2_press,0.618622918246,0.0100546244993,1.07002910818,0.589193647029,0.0187273514644,1.06969840807
+211,3.516666667,pose1_to_pose2_press,0.6186504517,0.0100545743097,1.07002910841,0.589221182349,0.0187273073754,1.06969840648
+212,3.533333333,pose1_to_pose2_press,0.618671460713,0.0100545613924,1.07002927927,0.589242191129,0.0187272936353,1.0696985742
+213,3.550000000,pose1_to_pose2_press,0.618687203676,0.0100546220636,1.07002924051,0.589257932921,0.0187273503704,1.06969853478
+214,3.566666667,pose1_to_pose2_press,0.618698487436,0.010054672697,1.07002910383,0.589269215841,0.0187273982807,1.06969840143
+215,3.583333333,pose1_to_pose2_press,0.618705821285,0.0100546536117,1.07002907752,0.589276549478,0.0187273787337,1.06969838157
+216,3.600000000,pose1_to_pose2_press,0.618710874416,0.010054630691,1.07002911668,0.589281601827,0.0187273527499,1.0696984118
+217,3.616666667,pose1_to_pose2_press,0.618713937316,0.0100546160424,1.07002914486,0.589284664204,0.0187273360324,1.06969843352
+218,3.633333333,pose1_to_pose2_press,0.618715815802,0.0100545497389,1.07002908177,0.58928654408,0.0187272746108,1.06969837412
+219,3.650000000,pose1_to_pose2_press,0.618716917648,0.0100545103233,1.07002904402,0.589287646759,0.0187272381151,1.06969833862
+220,3.666666667,pose1_to_pose2_press,0.618717450777,0.0100544912521,1.07002902576,0.589288180289,0.0187272204567,1.06969832144
+221,3.683333333,pose1_to_pose2_press,0.618717876558,0.0100544760209,1.07002901118,0.589288606393,0.0187272063538,1.06969830772
+222,3.700000000,pose1_to_pose2_press,0.618718378893,0.0100544580512,1.07002899397,0.589289109106,0.0187271897153,1.06969829154
+223,3.716666667,pose1_to_pose2_press,0.618718827488,0.0100544614783,1.07002898816,0.589289558012,0.018727194219,1.06969828649
+224,3.733333333,pose1_to_pose2_press,0.618719215978,0.0100544653378,1.07002898356,0.58928994677,0.0187271990058,1.06969828255
+225,3.750000000,pose1_to_pose2_press,0.618719434308,0.0100544675068,1.07002898097,0.589290165251,0.0187272016959,1.06969828034
+226,3.766666667,pose1_to_pose2_press,0.618719652806,0.0100544696775,1.07002897839,0.589290383899,0.0187272043881,1.06969827813
+227,3.783333333,pose1_to_pose2_press,0.618720181618,0.010054474931,1.07002897213,0.589290913077,0.0187272109038,1.06969827276
+228,3.800000000,pose1_to_pose2_press,0.618720807725,0.0100544811511,1.07002896472,0.589291539615,0.0187272186183,1.06969826642
+229,3.816666667,pose1_to_pose2_press,0.618721362852,0.0100544794193,1.07002898716,0.589292094358,0.0187272154356,1.06969828502
+230,3.833333333,pose1_to_pose2_press,0.618721779135,0.0100544774102,1.07002900684,0.589292510278,0.0187272120665,1.06969830135
+231,3.850000000,pose1_to_pose2_press,0.618721982528,0.0100544764286,1.07002901645,0.589292713494,0.0187272104203,1.06969830933
+232,3.866666667,pose1_to_pose2_press,0.618722106904,0.0100544758284,1.07002902233,0.589292837761,0.0187272094137,1.06969831421
+233,3.883333333,pose1_to_pose2_press,0.618722197989,0.0100544600579,1.07002902309,0.58929292904,0.0187271942914,1.06969831469
+234,3.900000000,pose1_to_pose2_press,0.618722243789,0.010054442912,1.07002902135,0.589292975101,0.0187271780399,1.06969831307
+235,3.916666667,pose1_to_pose2_press,0.618722350889,0.0100544028174,1.07002901727,0.58929308281,0.0187271400369,1.06969830928
+236,3.933333333,pose1_to_pose2_press,0.61872246251,0.0100543696989,1.07002901485,0.58929319492,0.0187271085963,1.06969830683
+237,3.950000000,pose1_to_pose2_press,0.61872246702,0.0100543716816,1.07002901545,0.589293199394,0.0187271104545,1.06969830731
+238,3.966666667,pose1_to_pose2_press,0.618722508001,0.0100543896981,1.07002902093,0.589293240044,0.0187271273394,1.06969831161
+239,3.983333333,pose1_to_pose2_press,0.618722518066,0.0100545136107,1.07002917017,0.589293246401,0.0187272384546,1.06969845481
+240,4.000000000,pose2_hold,0.618722518066,0.0100545136107,1.07002917017,0.589293246399,0.0187272384495,1.06969845479
+241,4.016666667,pose2_hold,0.618722518066,0.0100545136107,1.07002917017,0.5892932464,0.0187272384495,1.06969845479
+242,4.033333333,pose2_hold,0.618722518066,0.0100545136107,1.07002917017,0.5892932464,0.0187272384497,1.06969845479
+243,4.050000000,pose2_hold,0.618722518066,0.0100545136107,1.07002917017,0.5892932464,0.0187272384493,1.06969845479
+244,4.066666667,pose2_hold,0.618722518066,0.0100545136107,1.07002917017,0.5892932464,0.0187272384493,1.06969845479
+245,4.083333333,pose2_hold,0.618722518066,0.0100545136107,1.07002917017,0.5892932464,0.0187272384493,1.06969845479
+246,4.100000000,pose2_hold,0.618722518066,0.0100545136107,1.07002917017,0.589293246399,0.0187272384505,1.06969845479
+247,4.116666667,pose2_hold,0.618722518066,0.0100545136107,1.07002917017,0.5892932464,0.0187272384501,1.06969845479
+248,4.133333333,pose2_hold,0.618722518066,0.0100545136107,1.07002917017,0.589293246399,0.0187272384512,1.06969845479
+249,4.150000000,pose2_hold,0.618722518066,0.0100545136107,1.07002917017,0.589293246399,0.0187272384507,1.06969845479
+250,4.166666667,pose2_hold,0.618722518066,0.0100545136107,1.07002917017,0.589293246399,0.0187272384507,1.06969845479
+251,4.183333333,pose2_hold,0.618722518066,0.0100545136107,1.07002917017,0.589293246399,0.0187272384508,1.06969845479
+252,4.200000000,pose2_hold,0.618722518066,0.0100545136107,1.07002917017,0.589293246399,0.0187272384509,1.06969845479
+253,4.216666667,pose2_hold,0.618722518066,0.0100545136107,1.07002917017,0.5892932464,0.0187272384501,1.06969845479
+254,4.233333333,pose2_hold,0.618722518066,0.0100545136107,1.07002917017,0.5892932464,0.0187272384501,1.06969845479
+255,4.250000000,pose2_hold,0.618722518066,0.0100545136107,1.07002917017,0.589293246399,0.0187272384516,1.06969845479
+256,4.266666667,pose2_hold,0.618722518066,0.0100545136107,1.07002917017,0.5892932464,0.0187272384496,1.06969845479
+257,4.283333333,pose2_hold,0.618722518066,0.0100545136107,1.07002917017,0.5892932464,0.0187272384495,1.06969845479
+258,4.300000000,pose2_to_pose3_retreat,0.618722518066,0.0100545136107,1.07002917017,0.589293246399,0.0187272384535,1.06969845479
+259,4.316666667,pose2_to_pose3_retreat,0.618722413224,0.010054460225,1.07002889638,0.589293143633,0.0187271926829,1.06969819651
+260,4.333333333,pose2_to_pose3_retreat,0.618722344083,0.0100544551601,1.0700289007,0.589293075016,0.0187271894444,1.06969820226
+261,4.350000000,pose2_to_pose3_retreat,0.618722310156,0.0100544586206,1.07002893929,0.589293041179,0.0187271931707,1.06969823981
+262,4.366666667,pose2_to_pose3_retreat,0.618722187157,0.0100544711661,1.07002907919,0.589292918509,0.0187272066801,1.06969837597
+263,4.383333333,pose2_to_pose3_retreat,0.61872138763,0.0100545125539,1.0700290341,0.589292118956,0.0187272480245,1.06969833193
+264,4.400000000,pose2_to_pose3_retreat,0.618718101119,0.0100546486188,1.07002899399,0.589288830221,0.0187273765321,1.06969829136
+265,4.416666667,pose2_to_pose3_retreat,0.618709841831,0.0100546125855,1.0700291814,0.589280571111,0.0187273406544,1.06969846779
+266,4.433333333,pose2_to_pose3_retreat,0.618693016201,0.0100545643026,1.07002901971,0.589263745875,0.0187272939708,1.06969831167
+267,4.450000000,pose2_to_pose3_retreat,0.618665029189,0.0100545204349,1.07002921907,0.589235759354,0.0187272517661,1.06969850929
+268,4.466666667,pose2_to_pose3_retreat,0.618624988872,0.0100545662618,1.07002905477,0.589195718808,0.0187272968287,1.06969834799
+269,4.483333333,pose2_to_pose3_retreat,0.618574418045,0.0100546583822,1.0700294954,0.58914514834,0.0187273896699,1.06969878166
+270,4.500000000,pose2_to_pose3_retreat,0.618514257658,0.0100546049352,1.07002914411,0.589084986886,0.0187273329705,1.0696984336
+271,4.516666667,pose2_to_pose3_retreat,0.618444545952,0.0100548357873,1.07002900458,0.589015271879,0.0187275522497,1.06969829702
+272,4.533333333,pose2_to_pose3_retreat,0.618365202586,0.0100547307874,1.07002883775,0.588935928971,0.0187274494245,1.06969814073
+273,4.550000000,pose2_to_pose3_retreat,0.618274994766,0.0100546021278,1.07002886721,0.588845724079,0.0187273304498,1.06969816542
+274,4.566666667,pose2_to_pose3_retreat,0.61816975679,0.0100545382438,1.07002903735,0.588740487109,0.0187272693796,1.06969832146
+275,4.583333333,pose2_to_pose3_retreat,0.618049194605,0.0100544740479,1.07002902751,0.588619924862,0.0187272050524,1.0696983151
+276,4.600000000,pose2_to_pose3_retreat,0.617909906129,0.0100545076483,1.07002911897,0.588480637698,0.0187272429688,1.06969840626
+277,4.616666667,pose2_to_pose3_retreat,0.617751488852,0.0100545541239,1.07002926484,0.588322219057,0.0187272845261,1.06969854691
+278,4.633333333,pose2_to_pose3_retreat,0.617569373195,0.010054605368,1.07002919888,0.588140103421,0.018727335922,1.0696984863
+279,4.650000000,pose2_to_pose3_retreat,0.617362800508,0.010054690233,1.07002914659,0.587933528698,0.0187274138618,1.06969843746
+280,4.666666667,pose2_to_pose3_retreat,0.6171297604,0.0100546785209,1.07002905654,0.587700488859,0.0187274028752,1.06969834675
+281,4.683333333,pose2_to_pose3_retreat,0.616871575004,0.0100547450214,1.07002907217,0.587442303559,0.0187274698527,1.06969836967
+282,4.700000000,pose2_to_pose3_retreat,0.616588978114,0.0100547314243,1.07002893692,0.587159707293,0.0187274582791,1.06969823631
+283,4.716666667,pose2_to_pose3_retreat,0.616279295883,0.010054627915,1.07002924499,0.58685002678,0.0187273599662,1.06969853335
+284,4.733333333,pose2_to_pose3_retreat,0.615943049243,0.0100546549063,1.07002922467,0.586513778446,0.0187273810571,1.06969851367
+285,4.750000000,pose2_to_pose3_retreat,0.615577698678,0.0100544546537,1.07002905624,0.586148430262,0.0187271888228,1.06969834653
+286,4.766666667,pose2_to_pose3_retreat,0.615186444697,0.0100545822026,1.07002912294,0.585757175265,0.0187273126104,1.06969840912
+287,4.783333333,pose2_to_pose3_retreat,0.614771101056,0.0100545385798,1.07002933972,0.585341832649,0.0187272723091,1.06969862312
+288,4.800000000,pose2_to_pose3_retreat,0.614338863056,0.0100544159096,1.07002925361,0.58490959623,0.0187271549369,1.06969853489
+289,4.816666667,pose2_to_pose3_retreat,0.613890856864,0.0100544594296,1.07002916219,0.584461588636,0.018727193844,1.0696984478
+290,4.833333333,pose2_to_pose3_retreat,0.613423960875,0.0100545559255,1.07002919812,0.583994691801,0.0187272877698,1.06969849119
+291,4.850000000,pose2_to_pose3_retreat,0.612931504113,0.0100546613752,1.07002918134,0.583502233667,0.0187273886459,1.06969847619
+292,4.866666667,pose2_to_pose3_retreat,0.612407197302,0.0100546657355,1.07002921032,0.582977926045,0.0187273899769,1.06969849862
+293,4.883333333,pose2_to_pose3_retreat,0.611845783322,0.0100545983033,1.07002922976,0.582416513602,0.0187273276942,1.06969851587
+294,4.900000000,pose2_to_pose3_retreat,0.611248833344,0.0100546290671,1.07002908235,0.581819563514,0.0187273583127,1.06969837377
+295,4.916666667,pose2_to_pose3_retreat,0.610618665271,0.0100546559194,1.07002899721,0.581189394245,0.0187273812041,1.06969829188
+296,4.933333333,pose2_to_pose3_retreat,0.609960336682,0.0100546685917,1.07002887204,0.58053106575,0.0187273943691,1.06969817131
+297,4.950000000,pose2_to_pose3_retreat,0.609275006127,0.0100545995186,1.07002893147,0.579845736102,0.0187273282571,1.06969822686
+298,4.966666667,pose2_to_pose3_retreat,0.608556878109,0.0100544418799,1.07002913352,0.579127609376,0.0187271748175,1.06969842489
+299,4.983333333,pose2_to_pose3_retreat,0.607801783086,0.0100544424902,1.07002899047,0.578372514605,0.0187271763124,1.06969828353
+300,5.000000000,pose2_to_pose3_retreat,0.607032591517,0.0100544917047,1.07002897488,0.577603323005,0.0187272252765,1.06969826347
+301,5.016666667,pose2_to_pose3_retreat,0.606254021167,0.0100546111312,1.07002902872,0.576824750319,0.0187273367584,1.06969831676
+302,5.033333333,pose2_to_pose3_retreat,0.605470763913,0.0100545115134,1.07002899975,0.576041494481,0.0187272421807,1.06969829392
+303,5.050000000,pose2_to_pose3_retreat,0.604686882848,0.0100545619426,1.07002901845,0.575257614129,0.0187272948766,1.06969830857
+304,5.066666667,pose2_to_pose3_retreat,0.603899692883,0.0100546381909,1.07002885698,0.574470422972,0.0187273673349,1.06969815369
+305,5.083333333,pose2_to_pose3_retreat,0.603085513793,0.0100546189836,1.07002902693,0.573656244054,0.0187273486697,1.06969832078
+306,5.100000000,pose2_to_pose3_retreat,0.602241366457,0.0100545804201,1.07002913816,0.572812096822,0.0187273102565,1.06969842679
+307,5.116666667,pose2_to_pose3_retreat,0.601370713834,0.0100545183043,1.07002891085,0.571941444993,0.0187272512107,1.06969821062
+308,5.133333333,pose2_to_pose3_retreat,0.600483082142,0.0100545469796,1.07002894349,0.571053812417,0.0187272768379,1.06969824195
+309,5.150000000,pose2_to_pose3_retreat,0.599587473734,0.0100545075437,1.07002910448,0.570158204385,0.0187272383236,1.06969839403
+310,5.166666667,pose2_to_pose3_retreat,0.598704907139,0.0100545556664,1.07002921705,0.569275639047,0.0187272907862,1.06969850853
+311,5.183333333,pose2_to_pose3_retreat,0.597846279056,0.0100545947603,1.07002892263,0.568417010131,0.018727327175,1.0696982171
+312,5.200000000,pose2_to_pose3_retreat,0.596997180117,0.0100547441381,1.07002908172,0.567567908522,0.0187274674034,1.06969837381
+313,5.216666667,pose2_to_pose3_retreat,0.596153807411,0.0100546496464,1.07002918241,0.566724537698,0.0187273792864,1.06969847396
+314,5.233333333,pose2_to_pose3_retreat,0.595305130393,0.0100545232302,1.07002904486,0.565875861631,0.0187272562464,1.06969834012
+315,5.250000000,pose2_to_pose3_retreat,0.594444297717,0.0100546282779,1.07002914154,0.565015027376,0.0187273559614,1.06969843732
+316,5.266666667,pose2_to_pose3_retreat,0.59357076536,0.0100545689041,1.07002926231,0.564141495545,0.0187272981859,1.06969855311
+317,5.283333333,pose2_to_pose3_retreat,0.5926975248,0.0100545739122,1.07002917328,0.563268254847,0.0187273028185,1.06969846638
+318,5.300000000,pose2_to_pose3_retreat,0.591829108894,0.0100546410329,1.07002930468,0.562399838757,0.0187273692146,1.06969859345
+319,5.316666667,pose2_to_pose3_retreat,0.590983855699,0.0100545280123,1.07002923706,0.561554586049,0.0187272577472,1.069698524
+320,5.333333333,pose2_to_pose3_retreat,0.590159183431,0.0100545464723,1.07002907148,0.560729913183,0.0187272741662,1.06969835895
+321,5.350000000,pose2_to_pose3_retreat,0.589356219535,0.0100546250592,1.07002919284,0.559926949784,0.0187273544187,1.06969847976
+322,5.366666667,pose2_to_pose3_retreat,0.588571767972,0.0100545862436,1.07002917374,0.559142498034,0.0187273151869,1.06969846629
+323,5.383333333,pose2_to_pose3_retreat,0.58780375913,0.0100544667008,1.07002933004,0.558374489287,0.0187271955837,1.06969861244
+324,5.400000000,pose2_to_pose3_retreat,0.587053607415,0.0100544866897,1.07002925201,0.557624337929,0.0187272168876,1.06969853711
+325,5.416666667,pose2_to_pose3_retreat,0.586321160181,0.0100546844793,1.07002921663,0.556891888896,0.018727408827,1.06969850845
+326,5.433333333,pose2_to_pose3_retreat,0.585609251956,0.0100547002156,1.07002914842,0.556179981091,0.0187274262754,1.06969844698
+327,5.450000000,pose2_to_pose3_retreat,0.584921861974,0.010054614938,1.07002910022,0.555492591813,0.0187273434457,1.06969840001
+328,5.466666667,pose2_to_pose3_retreat,0.584263670926,0.0100545174032,1.07002897891,0.554834402232,0.0187272506383,1.06969827201
+329,5.483333333,pose2_to_pose3_retreat,0.583626120658,0.0100544913439,1.07002894336,0.554196852497,0.0187272265249,1.06969824055
+330,5.500000000,pose2_to_pose3_retreat,0.583005928643,0.0100544722305,1.07002892133,0.553576660683,0.0187272080142,1.06969821692
+331,5.516666667,pose2_to_pose3_retreat,0.582405606969,0.0100545713955,1.07002904734,0.552976337112,0.0187273006401,1.06969834045
+332,5.533333333,pose2_to_pose3_retreat,0.581827741273,0.010054635535,1.07002915913,0.552398470759,0.0187273622926,1.06969844576
+333,5.550000000,pose2_to_pose3_retreat,0.581282017516,0.0100546417272,1.07002907269,0.551852747483,0.0187273701952,1.0696983613
+334,5.566666667,pose2_to_pose3_retreat,0.580771388885,0.0100546437339,1.07002910862,0.551342119191,0.0187273734322,1.06969839905
+335,5.583333333,pose2_to_pose3_retreat,0.580299200975,0.0100546199627,1.07002923737,0.550869931185,0.0187273492236,1.06969852453
+336,5.600000000,pose2_to_pose3_retreat,0.579855949161,0.0100545620593,1.07002918119,0.550426679259,0.0187272910937,1.06969847236
+337,5.616666667,pose2_to_pose3_retreat,0.57943940839,0.0100545570107,1.07002905832,0.550010139243,0.0187272886265,1.06969834994
+338,5.633333333,pose2_to_pose3_retreat,0.579043064875,0.0100545739517,1.07002902532,0.549613795762,0.018727305616,1.06969831507
+339,5.650000000,pose2_to_pose3_retreat,0.578666847848,0.0100544867508,1.07002896846,0.549237578813,0.0187272185896,1.06969825583
+340,5.666666667,pose2_to_pose3_retreat,0.578314320009,0.010054578907,1.07002911166,0.548885049941,0.0187273073154,1.06969840136
+341,5.683333333,pose2_to_pose3_retreat,0.577987289332,0.0100547310526,1.07002925252,0.548558017236,0.0187274526673,1.06969854471
+342,5.700000000,pose2_to_pose3_retreat,0.577688542351,0.0100546519695,1.07002918779,0.548259271423,0.0187273775134,1.06969847901
+343,5.716666667,pose2_to_pose3_retreat,0.577420164105,0.0100544738162,1.07002898566,0.547990895391,0.0187272068908,1.06969827725
+344,5.733333333,pose2_to_pose3_retreat,0.57718191087,0.0100545001805,1.07002888297,0.547752642244,0.0187272336421,1.06969817693
+345,5.750000000,pose2_to_pose3_retreat,0.576971472199,0.010054595523,1.07002907333,0.547542203104,0.018727327458,1.06969836884
+346,5.766666667,pose2_to_pose3_retreat,0.576784246694,0.0100546859525,1.07002932544,0.547354976404,0.0187274136146,1.06969861502
+347,5.783333333,pose2_to_pose3_retreat,0.576618153198,0.0100546881795,1.07002919661,0.547188882692,0.0187274150876,1.06969848569
+348,5.800000000,pose2_to_pose3_retreat,0.576468339191,0.010054515294,1.07002893325,0.547039070783,0.0187272494617,1.06969822613
+349,5.816666667,pose2_to_pose3_retreat,0.576333219621,0.0100544604011,1.07002906573,0.546903951559,0.0187271955474,1.0696983534
+350,5.833333333,pose2_to_pose3_retreat,0.576212678627,0.0100545952265,1.07002912932,0.54678340894,0.0187273249857,1.06969842156
+351,5.850000000,pose2_to_pose3_retreat,0.576106715207,0.0100545625692,1.07002916354,0.546677445571,0.0187272921479,1.06969844864
+352,5.866666667,pose2_to_pose3_retreat,0.576016500058,0.0100546346383,1.07002913867,0.546587229479,0.0187273612282,1.0696984283
+353,5.883333333,pose2_to_pose3_retreat,0.575941267028,0.0100545708882,1.07002913381,0.546511997235,0.0187273002073,1.06969842507
+354,5.900000000,pose2_to_pose3_retreat,0.575881875381,0.0100546010073,1.07002904194,0.546452605665,0.0187273306223,1.06969833433
+355,5.916666667,pose2_to_pose3_retreat,0.575834684724,0.0100545440822,1.07002896914,0.546405414767,0.0187272729309,1.0696982627
+356,5.933333333,pose2_to_pose3_retreat,0.575798433981,0.0100545610897,1.07002915165,0.546369165368,0.0187272946434,1.06969844797
+357,5.950000000,pose2_to_pose3_retreat,0.575770498924,0.0100546560268,1.07002923824,0.546341229544,0.0187273869386,1.06969853312
+358,5.966666667,pose2_to_pose3_retreat,0.57574930223,0.0100547038193,1.07002925765,0.546320031684,0.0187274306053,1.06969854805
+359,5.983333333,pose2_to_pose3_retreat,0.575734186509,0.0100547877975,1.07002924657,0.546304915474,0.0187275129113,1.06969853614
+360,6.000000000,pose2_to_pose3_retreat,0.575724205571,0.0100545882908,1.0700291454,0.546294935154,0.0187273155833,1.06969843713
+361,6.016666667,pose2_to_pose3_retreat,0.575718786948,0.0100546959375,1.07002914536,0.546289517521,0.0187274265298,1.06969843559
+362,6.033333333,pose2_to_pose3_retreat,0.575716106603,0.0100546732105,1.07002918054,0.546286837405,0.0187274044853,1.06969846831
+363,6.050000000,pose2_to_pose3_retreat,0.57571520906,0.0100546208469,1.07002921305,0.546285939786,0.0187273517909,1.06969849899
+364,6.066666667,pose2_to_pose3_retreat,0.575714795044,0.0100545966928,1.07002922805,0.546285525734,0.0187273274842,1.06969851315
+365,6.083333333,pose2_to_pose3_retreat,0.575714467063,0.010054577558,1.07002923993,0.546285197725,0.0187273082285,1.06969852436
+366,6.100000000,pose2_to_pose3_retreat,0.575713910941,0.0100545451133,1.07002926008,0.546284641555,0.0187272755787,1.06969854337
+367,6.116666667,pose2_to_pose3_retreat,0.575713531279,0.0100545229634,1.07002927383,0.546284261861,0.0187272532889,1.06969855635
+368,6.133333333,pose2_to_pose3_retreat,0.575713320415,0.0100545106613,1.07002928147,0.546284050979,0.0187272409091,1.06969856356
+369,6.150000000,pose2_to_pose3_retreat,0.575712966725,0.0100544900267,1.07002929428,0.546283697259,0.0187272201441,1.06969857565
+370,6.166666667,pose2_to_pose3_retreat,0.57571262797,0.0100544834594,1.07002928554,0.546283358463,0.0187272134486,1.06969856717
+371,6.183333333,pose2_to_pose3_retreat,0.575712476496,0.0100544899851,1.07002926656,0.546283206961,0.0187272199146,1.06969854899
+372,6.200000000,pose2_to_pose3_retreat,0.575712436365,0.010054491714,1.07002926153,0.546283166824,0.0187272216276,1.06969854417
+373,6.216666667,pose2_to_pose3_retreat,0.575712146606,0.0100545041972,1.07002922523,0.546282877014,0.0187272339966,1.06969850939
+374,6.233333333,pose2_to_pose3_retreat,0.575712073289,0.0100545073559,1.07002921605,0.546282803684,0.0187272371263,1.0696985006
+375,6.250000000,pose2_to_pose3_retreat,0.575711890288,0.0100545152398,1.07002919312,0.546282620651,0.0187272449381,1.06969847863
+376,6.266666667,pose2_to_pose3_retreat,0.575711879639,0.0100545156986,1.07002919178,0.54628261,0.0187272453927,1.06969847735
+377,6.283333333,pose2_to_pose3_retreat,0.575711753401,0.0100545211371,1.07002917597,0.54628248374,0.0187272507814,1.0696984622
+378,6.300000000,pose2_to_pose3_retreat,0.575711176635,0.010054545985,1.07002910371,0.546281906873,0.0187272754018,1.06969839298
+379,6.316666667,pose2_to_pose3_retreat,0.575711038376,0.0100545519414,1.07002908638,0.546281768589,0.0187272813037,1.06969837638
+380,6.333333333,pose2_to_pose3_retreat,0.575710490556,0.0100545755423,1.07002901775,0.546281220673,0.0187273046885,1.06969831063
+381,6.350000000,pose2_to_pose3_retreat,0.575710392736,0.0100545757539,1.07002900333,0.546281122841,0.0187273048859,1.06969829698
+382,6.366666667,pose2_to_pose3_retreat,0.575710307946,0.0100545709453,1.07002898812,0.546281038045,0.0187273000951,1.06969828275
+383,6.383333333,pose2_to_pose3_retreat,0.575710113557,0.0100545599211,1.07002895326,0.546280843643,0.0187272891119,1.06969825014
+384,6.400000000,pose2_to_pose3_retreat,0.575710001638,0.010054553574,1.07002893319,0.546280731716,0.0187272827883,1.06969823136
+385,6.416666667,pose2_to_pose3_retreat,0.575709834102,0.0100545440727,1.07002890315,0.546280564169,0.0187272733224,1.06969820325
+386,6.433333333,pose2_to_pose3_retreat,0.575709648024,0.0100545335199,1.07002886978,0.546280378079,0.0187272628088,1.06969817203
+387,6.450000000,pose2_to_pose3_retreat,0.575709382186,0.0100545717019,1.07002921677,0.54628011072,0.0187272952812,1.06969850459
+388,6.466666667,pose2_to_pose3_retreat,0.575709311211,0.0100545771355,1.07002929647,0.546280040973,0.0187273046158,1.06969857731
+389,6.483333333,pose2_to_pose3_retreat,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+390,6.500000000,pose2_to_pose3_retreat,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147

Part2/Obstacle_avoidance/cylinder_0050_20/position_12/depth_02/fem_node.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e72c0c57f3e2912ac24dd2fb67619a631acdcbab0fc6fca801a11fbe9124e222
+size 25100055

Part2/Obstacle_avoidance/cylinder_0050_20/position_12/depth_02/simulation_data.csv

@@ -0,0 +1,396 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+1,0.016666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+2,0.033333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+3,0.050000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+4,0.066666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+5,0.083333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+6,0.100000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+7,0.116666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+8,0.133333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+9,0.150000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+10,0.166666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+11,0.183333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+12,0.200000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+13,0.216666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+14,0.233333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+15,0.250000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+16,0.266666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+17,0.283333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+18,0.300000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+19,0.316666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+20,0.333333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+21,0.350000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+22,0.366666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+23,0.383333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+24,0.400000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+25,0.416666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+26,0.433333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+27,0.450000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+28,0.466666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+29,0.483333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+30,0.500000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+31,0.516666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+32,0.533333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+33,0.550000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+34,0.566666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+35,0.583333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+36,0.600000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+37,0.616666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+38,0.633333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+39,0.650000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+40,0.666666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+41,0.683333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+42,0.700000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+43,0.716666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+44,0.733333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+45,0.750000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+46,0.766666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+47,0.783333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+48,0.800000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+49,0.816666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+50,0.833333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+51,0.850000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+52,0.866666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+53,0.883333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+54,0.900000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+55,0.916666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+56,0.933333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+57,0.950000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+58,0.966666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+59,0.983333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+60,1.000000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+61,1.016666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+62,1.033333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+63,1.050000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+64,1.066666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+65,1.083333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+66,1.100000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+67,1.116666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+68,1.133333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+69,1.150000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+70,1.166666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+71,1.183333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+72,1.200000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+73,1.216666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+74,1.233333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+75,1.250000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+76,1.266666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+77,1.283333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+78,1.300000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+79,1.316666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+80,1.333333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+81,1.350000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+82,1.366666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+83,1.383333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+84,1.400000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+85,1.416666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+86,1.433333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+87,1.450000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+88,1.466666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+89,1.483333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+90,1.500000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+91,1.516666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+92,1.533333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+93,1.550000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+94,1.566666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+95,1.583333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+96,1.600000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+97,1.616666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+98,1.633333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+99,1.650000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+100,1.666666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+101,1.683333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+102,1.700000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+103,1.716666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+104,1.733333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+105,1.750000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+106,1.766666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+107,1.783333333,pose1_to_pose2_press,0.575709270927,0.0100545684129,1.07002931416,0.546280001826,0.0187272996178,1.06969859147
+108,1.800000000,pose1_to_pose2_press,0.575709523671,0.0100545869338,1.070028912,0.54628025301,0.0187273135594,1.06969820804
+109,1.816666667,pose1_to_pose2_press,0.575709943527,0.0100545283127,1.07002903343,0.54628067228,0.0187272527881,1.0696983253
+110,1.833333333,pose1_to_pose2_press,0.57571049778,0.0100544735745,1.07002914369,0.546281228313,0.0187272039378,1.06969843151
+111,1.850000000,pose1_to_pose2_press,0.575710722316,0.0100544513993,1.07002918836,0.54628145357,0.0187271841478,1.06969847454
+112,1.866666667,pose1_to_pose2_press,0.575710778018,0.0100544458981,1.07002919944,0.546281509452,0.0187271792383,1.06969848521
+113,1.883333333,pose1_to_pose2_press,0.575711398684,0.0100544115015,1.07002927469,0.546282131361,0.018727148958,1.06969855776
+114,1.900000000,pose1_to_pose2_press,0.57571380487,0.0100545075504,1.07002915516,0.546284535968,0.0187272398407,1.0696984434
+115,1.916666667,pose1_to_pose2_press,0.575719861943,0.0100545874026,1.07002945356,0.546290591828,0.018727315487,1.06969873938
+116,1.933333333,pose1_to_pose2_press,0.575732733423,0.0100544656513,1.07002901099,0.546303465057,0.0187271998963,1.06969830285
+117,1.950000000,pose1_to_pose2_press,0.575754346114,0.0100544542643,1.07002927192,0.546325078103,0.0187271894552,1.06969855664
+118,1.966666667,pose1_to_pose2_press,0.575787405418,0.0100546215913,1.07002901978,0.54635813349,0.0187273437442,1.06969831113
+119,1.983333333,pose1_to_pose2_press,0.575831852801,0.0100545826627,1.07002902076,0.546402582934,0.0187273117916,1.06969831151
+120,2.000000000,pose1_to_pose2_press,0.57588723086,0.0100545886521,1.07002910496,0.546457961519,0.0187273197727,1.06969840115
+121,2.016666667,pose1_to_pose2_press,0.575952798474,0.0100544466371,1.07002915924,0.546523529977,0.0187271802458,1.06969844544
+122,2.033333333,pose1_to_pose2_press,0.576028745336,0.0100546740955,1.07002898381,0.546599474393,0.0187273999022,1.069698283
+123,2.050000000,pose1_to_pose2_press,0.576115703085,0.0100546686682,1.07002910858,0.546686433288,0.0187273982867,1.06969840568
+124,2.066666667,pose1_to_pose2_press,0.576214420002,0.0100546126307,1.07002898066,0.546785150357,0.0187273429021,1.06969828127
+125,2.083333333,pose1_to_pose2_press,0.576329777806,0.0100545492956,1.07002916545,0.546900506357,0.0187272727855,1.06969844886
+126,2.100000000,pose1_to_pose2_press,0.576461209529,0.0100546667387,1.07002900145,0.547031939076,0.0187273940997,1.0696982976
+127,2.116666667,pose1_to_pose2_press,0.576611056111,0.0100544649266,1.07002912826,0.547181788468,0.0187272015968,1.06969841844
+128,2.133333333,pose1_to_pose2_press,0.576777553782,0.0100545243029,1.07002899949,0.54734828575,0.0187272598522,1.06969829488
+129,2.150000000,pose1_to_pose2_press,0.576960871522,0.0100544581065,1.07002898612,0.547531603307,0.018727193165,1.06969828482
+130,2.166666667,pose1_to_pose2_press,0.577160465779,0.010054571267,1.07002912748,0.547731197171,0.0187273047917,1.06969842093
+131,2.183333333,pose1_to_pose2_press,0.577376968728,0.0100545486346,1.07002901163,0.54794769831,0.0187272760091,1.0696983047
+132,2.200000000,pose1_to_pose2_press,0.577614427918,0.010054449809,1.0700292742,0.548185158199,0.0187271790879,1.06969855505
+133,2.216666667,pose1_to_pose2_press,0.577874567505,0.0100547020123,1.07002938969,0.548445295625,0.0187274240606,1.06969867312
+134,2.233333333,pose1_to_pose2_press,0.578161492759,0.0100547191979,1.07002931182,0.54873222136,0.0187274429532,1.06969859708
+135,2.250000000,pose1_to_pose2_press,0.578476084967,0.0100545162213,1.07002892132,0.549046814884,0.0187272450824,1.06969822337
+136,2.266666667,pose1_to_pose2_press,0.578819103972,0.0100544600066,1.07002908144,0.54938983684,0.0187271985609,1.06969837502
+137,2.283333333,pose1_to_pose2_press,0.579190181923,0.0100545949644,1.07002913975,0.549760911567,0.0187273225515,1.06969843265
+138,2.300000000,pose1_to_pose2_press,0.579586752539,0.0100545618984,1.07002894101,0.550157482444,0.0187272902847,1.06969823159
+139,2.316666667,pose1_to_pose2_press,0.580006744717,0.010054593335,1.07002909354,0.550577475635,0.0187273252463,1.06969838631
+140,2.333333333,pose1_to_pose2_press,0.580447239349,0.0100545878079,1.07002901814,0.551017970447,0.0187273204263,1.06969831342
+141,2.350000000,pose1_to_pose2_press,0.580908309574,0.0100545138815,1.07002902876,0.551479041758,0.0187272498889,1.06969831621
+142,2.366666667,pose1_to_pose2_press,0.581389121498,0.0100545817107,1.07002934615,0.551959852033,0.0187273119968,1.06969863016
+143,2.383333333,pose1_to_pose2_press,0.581891149414,0.0100545786559,1.07002920297,0.552461879532,0.0187273077083,1.06969849182
+144,2.400000000,pose1_to_pose2_press,0.582419264735,0.0100545794144,1.07002903824,0.552989995305,0.018727310194,1.06969833208
+145,2.416666667,pose1_to_pose2_press,0.58297656438,0.0100546590357,1.07002893195,0.55354729346,0.0187273846527,1.06969822292
+146,2.433333333,pose1_to_pose2_press,0.583571025134,0.0100545046799,1.07002880458,0.554141755821,0.0187272357265,1.06969809493
+147,2.450000000,pose1_to_pose2_press,0.584193621925,0.01005448042,1.07002891474,0.554764353254,0.0187272141513,1.06969821839
+148,2.466666667,pose1_to_pose2_press,0.584840613754,0.0100545742397,1.07002889855,0.555411343572,0.0187273025358,1.06969819405
+149,2.483333333,pose1_to_pose2_press,0.585506369915,0.0100545819611,1.07002916472,0.556077099848,0.018727309943,1.06969844164
+150,2.500000000,pose1_to_pose2_press,0.586185639221,0.0100545306945,1.07002904779,0.556756369238,0.0187272594454,1.06969833739
+151,2.516666667,pose1_to_pose2_press,0.586871737489,0.0100545901287,1.07002926095,0.557442467177,0.0187273174079,1.06969854118
+152,2.533333333,pose1_to_pose2_press,0.587571964534,0.0100545837057,1.07002914982,0.5581426949,0.0187273137468,1.06969844222
+153,2.550000000,pose1_to_pose2_press,0.588294159334,0.0100545616357,1.07002911169,0.558864889549,0.0187272913309,1.06969840846
+154,2.566666667,pose1_to_pose2_press,0.589033580344,0.0100545886733,1.07002895579,0.559604309886,0.018727315789,1.06969824475
+155,2.583333333,pose1_to_pose2_press,0.589788307715,0.0100545999635,1.07002867848,0.560359038071,0.0187273301928,1.06969797672
+156,2.600000000,pose1_to_pose2_press,0.59056535644,0.0100545930757,1.07002915075,0.561136085692,0.0187273192103,1.06969843978
+157,2.616666667,pose1_to_pose2_press,0.591361449222,0.0100546361103,1.07002937627,0.561932178966,0.0187273638535,1.06969866376
+158,2.633333333,pose1_to_pose2_press,0.592175485187,0.0100546311941,1.070029336,0.562746212871,0.0187273515139,1.06969861218
+159,2.650000000,pose1_to_pose2_press,0.592999289763,0.0100544793712,1.07002920287,0.563570021008,0.0187272119107,1.06969848261
+160,2.666666667,pose1_to_pose2_press,0.593825266717,0.0100546347874,1.07002899545,0.564395996155,0.0187273618895,1.06969829341
+161,2.683333333,pose1_to_pose2_press,0.5946536998,0.0100545517478,1.07002890287,0.565224429837,0.0187272806535,1.06969819478
+162,2.700000000,pose1_to_pose2_press,0.595484925909,0.0100547795419,1.07002907068,0.566055653878,0.0187275017644,1.06969837151
+163,2.716666667,pose1_to_pose2_press,0.596320439769,0.0100548745236,1.07002927847,0.566891166743,0.0187275926954,1.06969856159
+164,2.733333333,pose1_to_pose2_press,0.597161990799,0.0100545989339,1.07002939098,0.567732720178,0.0187273253874,1.0696986773
+165,2.750000000,pose1_to_pose2_press,0.598005096024,0.0100546010423,1.07002920401,0.568575827009,0.0187273327583,1.06969848545
+166,2.766666667,pose1_to_pose2_press,0.598840141451,0.0100546427176,1.07002917123,0.569410871258,0.0187273704707,1.06969845369
+167,2.783333333,pose1_to_pose2_press,0.599665080084,0.010054624173,1.07002930175,0.570235809994,0.0187273520705,1.06969857892
+168,2.800000000,pose1_to_pose2_press,0.600480116006,0.0100546146002,1.07002916697,0.571050845221,0.01872734059,1.06969845596
+169,2.816666667,pose1_to_pose2_press,0.601292639034,0.0100545535843,1.07002904257,0.571863368727,0.0187272811623,1.06969833076
+170,2.833333333,pose1_to_pose2_press,0.60211179808,0.0100544778425,1.07002925781,0.572682529738,0.0187272119404,1.06969854217
+171,2.850000000,pose1_to_pose2_press,0.602935285908,0.0100546183313,1.07002915341,0.573506016003,0.0187273473962,1.06969844497
+172,2.866666667,pose1_to_pose2_press,0.603762434343,0.010054616931,1.07002898535,0.574333164082,0.0187273451458,1.0696982863
+173,2.883333333,pose1_to_pose2_press,0.60458060697,0.0100546486177,1.07002892973,0.575151335615,0.018727372614,1.06969821748
+174,2.900000000,pose1_to_pose2_press,0.605387692835,0.0100546305976,1.07002915666,0.575958421493,0.0187273545074,1.06969844117
+175,2.916666667,pose1_to_pose2_press,0.606165980234,0.0100546194616,1.07002925665,0.576736710198,0.0187273479183,1.06969854424
+176,2.933333333,pose1_to_pose2_press,0.606917048268,0.010054622926,1.07002884838,0.577487776307,0.0187273454437,1.06969815161
+177,2.950000000,pose1_to_pose2_press,0.607645521534,0.0100546674475,1.07002886586,0.578216249766,0.0187273904218,1.06969816395
+178,2.966666667,pose1_to_pose2_press,0.608356421415,0.0100546343326,1.07002913539,0.57892715209,0.0187273653044,1.06969842582
+179,2.983333333,pose1_to_pose2_press,0.609053008531,0.0100545377505,1.07002912904,0.579623740244,0.0187272723362,1.06969842204
+180,3.000000000,pose1_to_pose2_press,0.609742799725,0.0100546222666,1.0700294081,0.580313528878,0.0187273478175,1.06969869203
+181,3.016666667,pose1_to_pose2_press,0.610420108074,0.0100544299932,1.07002911466,0.580990840749,0.0187271679039,1.06969840941
+182,3.033333333,pose1_to_pose2_press,0.611071433409,0.0100545430647,1.07002902357,0.581642163925,0.0187272734726,1.06969831387
+183,3.050000000,pose1_to_pose2_press,0.611692978213,0.0100546860522,1.07002901378,0.582263707644,0.0187274128474,1.0696983059
+184,3.066666667,pose1_to_pose2_press,0.612280282888,0.0100545430641,1.07002885859,0.5828510132,0.0187272732226,1.06969816056
+185,3.083333333,pose1_to_pose2_press,0.612840112644,0.0100545399584,1.07002916137,0.583410843122,0.0187272700867,1.06969844765
+186,3.100000000,pose1_to_pose2_press,0.613372507415,0.0100547510008,1.07002914042,0.583943236353,0.0187274761285,1.06969843136
+187,3.116666667,pose1_to_pose2_press,0.613876227682,0.0100546730852,1.0700290308,0.584446956118,0.0187273963957,1.06969831892
+188,3.133333333,pose1_to_pose2_press,0.614351224309,0.0100545776295,1.07002923291,0.584921954066,0.0187273056696,1.06969852615
+189,3.150000000,pose1_to_pose2_press,0.614793040919,0.0100546731497,1.07002916598,0.585363770494,0.0187274004127,1.06969845357
+190,3.166666667,pose1_to_pose2_press,0.615210601362,0.0100545368574,1.07002907507,0.585781331079,0.0187272645676,1.06969836093
+191,3.183333333,pose1_to_pose2_press,0.615608702242,0.0100544853289,1.07002913395,0.586179432703,0.0187272155574,1.06969841817
+192,3.200000000,pose1_to_pose2_press,0.615996413352,0.0100545622057,1.07002897107,0.586567142871,0.0187272897227,1.06969826436
+193,3.216666667,pose1_to_pose2_press,0.616375202791,0.0100545951246,1.07002904756,0.586945931623,0.0187273204873,1.06969834067
+194,3.233333333,pose1_to_pose2_press,0.616742605007,0.0100546199509,1.0700291456,0.587313334451,0.0187273474694,1.06969843555
+195,3.250000000,pose1_to_pose2_press,0.617091731926,0.010054484822,1.07002895259,0.587662461987,0.0187272147593,1.06969824584
+196,3.266666667,pose1_to_pose2_press,0.617413210723,0.0100545634828,1.07002918446,0.587983939548,0.0187272891898,1.06969847167
+197,3.283333333,pose1_to_pose2_press,0.617702681468,0.0100546082376,1.07002907607,0.588273410915,0.0187273362658,1.06969836303
+198,3.300000000,pose1_to_pose2_press,0.617958114233,0.010054488641,1.07002892926,0.588528845246,0.0187272222597,1.06969821933
+199,3.316666667,pose1_to_pose2_press,0.618185697511,0.0100545336334,1.07002911452,0.588756427124,0.0187272624346,1.0696983993
+200,3.333333333,pose1_to_pose2_press,0.618389134015,0.0100544490746,1.07002925854,0.588959865256,0.0187271835294,1.06969854374
+201,3.350000000,pose1_to_pose2_press,0.618572253741,0.0100543816082,1.07002911079,0.589142985877,0.0187271194918,1.06969840119
+202,3.366666667,pose1_to_pose2_press,0.618739842758,0.0100545342857,1.07002908844,0.589310572982,0.0187272658098,1.06969837897
+203,3.383333333,pose1_to_pose2_press,0.618893554068,0.0100546514591,1.07002928351,0.589464283363,0.0187273797959,1.06969857083
+204,3.400000000,pose1_to_pose2_press,0.619032682757,0.0100546367372,1.07002927714,0.589603411225,0.0187273622872,1.06969856234
+205,3.416666667,pose1_to_pose2_press,0.619156803868,0.0100545486332,1.07002908759,0.589727533324,0.0187272777654,1.0696983764
+206,3.433333333,pose1_to_pose2_press,0.619264901722,0.0100545406818,1.07002929216,0.589835632159,0.0187272731663,1.06969857926
+207,3.450000000,pose1_to_pose2_press,0.619357218082,0.0100545178569,1.07002946997,0.589927948381,0.018727249969,1.06969875171
+208,3.466666667,pose1_to_pose2_press,0.619432592818,0.0100545024565,1.07002935452,0.590003323747,0.0187272368519,1.06969863714
+209,3.483333333,pose1_to_pose2_press,0.619495358859,0.0100545379317,1.07002910553,0.590066089375,0.0187272710839,1.06969839746
+210,3.500000000,pose1_to_pose2_press,0.619546620269,0.0100545707734,1.07002890638,0.590117349446,0.0187272996097,1.06969820536
+211,3.516666667,pose1_to_pose2_press,0.619588794422,0.0100546395403,1.07002903371,0.590159522765,0.0187273654393,1.06969832696
+212,3.533333333,pose1_to_pose2_press,0.619622684854,0.0100545023292,1.07002910566,0.590193414433,0.0187272325541,1.06969840272
+213,3.550000000,pose1_to_pose2_press,0.619650064793,0.0100545470686,1.07002914589,0.590220794243,0.0187272766273,1.06969843538
+214,3.566666667,pose1_to_pose2_press,0.619671078331,0.0100547218205,1.07002911559,0.590241805385,0.0187274436028,1.06969841193
+215,3.583333333,pose1_to_pose2_press,0.619686020356,0.0100546068153,1.07002911099,0.59025674903,0.0187273341159,1.06969840789
+216,3.600000000,pose1_to_pose2_press,0.619697115856,0.0100545747764,1.07002913409,0.590267844703,0.0187273024403,1.06969842623
+217,3.616666667,pose1_to_pose2_press,0.619704879411,0.0100545991625,1.07002917672,0.590275607796,0.0187273250047,1.06969846318
+218,3.633333333,pose1_to_pose2_press,0.619709882196,0.0100545699147,1.07002925264,0.590280611955,0.0187273003772,1.06969853742
+219,3.650000000,pose1_to_pose2_press,0.619712965558,0.010054562369,1.07002926357,0.590283695819,0.0187272945919,1.06969854929
+220,3.666666667,pose1_to_pose2_press,0.619715030184,0.0100545782128,1.07002919939,0.590285760091,0.0187273094465,1.06969848966
+221,3.683333333,pose1_to_pose2_press,0.61971609219,0.0100545863625,1.07002916638,0.590286821916,0.0187273170875,1.06969845899
+222,3.700000000,pose1_to_pose2_press,0.619716266393,0.0100545876993,1.07002916097,0.590286996089,0.0187273183409,1.06969845396
+223,3.716666667,pose1_to_pose2_press,0.619716402118,0.0100545887409,1.07002915675,0.590287131791,0.0187273193174,1.06969845004
+224,3.733333333,pose1_to_pose2_press,0.619716435887,0.010054589,1.0700291557,0.590287165554,0.0187273195604,1.06969844906
+225,3.750000000,pose1_to_pose2_press,0.619716462479,0.0100545892041,1.07002915487,0.590287192141,0.0187273197517,1.06969844829
+226,3.766666667,pose1_to_pose2_press,0.619716793947,0.0100545917477,1.07002914457,0.590287523552,0.0187273221365,1.06969843872
+227,3.783333333,pose1_to_pose2_press,0.619717549063,0.010054586835,1.07002912044,0.590288278681,0.0187273173123,1.06969841559
+228,3.800000000,pose1_to_pose2_press,0.619718269932,0.0100545476934,1.07002909525,0.590289000015,0.0187272797036,1.06969838924
+229,3.816666667,pose1_to_pose2_press,0.619718909582,0.0100545129617,1.07002907291,0.590289640079,0.0187272463321,1.06969836586
+230,3.833333333,pose1_to_pose2_press,0.61971942278,0.0100544850961,1.07002905498,0.590290153609,0.0187272195578,1.0696983471
+231,3.850000000,pose1_to_pose2_press,0.619719881534,0.0100544601867,1.07002903895,0.59029061266,0.018727195624,1.06969833034
+232,3.866666667,pose1_to_pose2_press,0.61972031586,0.0100544366037,1.07002902378,0.590291047267,0.0187271729645,1.06969831446
+233,3.883333333,pose1_to_pose2_press,0.619720559361,0.0100544637317,1.07002905741,0.59029129046,0.0187271990444,1.069698348
+234,3.900000000,pose1_to_pose2_press,0.619720560683,0.0100544639199,1.07002905763,0.59029129178,0.0187271992254,1.06969834823
+235,3.916666667,pose1_to_pose2_press,0.619720725806,0.0100544874243,1.07002908577,0.590291456635,0.0187272218208,1.06969837634
+236,3.933333333,pose1_to_pose2_press,0.619721190676,0.010054553596,1.07002916499,0.590291920751,0.0187272854334,1.0696984555
+237,3.950000000,pose1_to_pose2_press,0.619721213604,0.0100545568597,1.07002916889,0.590291943643,0.0187272885709,1.06969845941
+238,3.966666667,pose1_to_pose2_press,0.619721408047,0.0100545845376,1.07002920203,0.590292137771,0.0187273151785,1.06969849252
+239,3.983333333,pose1_to_pose2_press,0.619721702032,0.0100546263848,1.07002925212,0.590292431279,0.0187273554073,1.06969854258
+240,4.000000000,pose1_to_pose2_press,0.619721848936,0.010054627177,1.07002925724,0.590292578154,0.0187273560811,1.06969854727
+241,4.016666667,pose1_to_pose2_press,0.619722037057,0.0100545917813,1.07002922775,0.590292766613,0.018727321783,1.06969851652
+242,4.033333333,pose1_to_pose2_press,0.61972231622,0.0100545392556,1.07002918398,0.590293046278,0.0187272708861,1.06969847088
+243,4.050000000,pose1_to_pose2_press,0.619722561657,0.0100544849551,1.07002912853,0.590293291366,0.018727215617,1.0696984227
+244,4.066666667,pose2_hold,0.619722561657,0.0100544849551,1.07002912853,0.590293291365,0.018727215618,1.0696984227
+245,4.083333333,pose2_hold,0.619722561657,0.0100544849551,1.07002912853,0.590293291365,0.0187272156181,1.0696984227
+246,4.100000000,pose2_hold,0.619722561657,0.0100544849551,1.07002912853,0.590293291365,0.0187272156178,1.0696984227
+247,4.116666667,pose2_hold,0.619722561657,0.0100544849551,1.07002912853,0.590293291365,0.0187272156178,1.0696984227
+248,4.133333333,pose2_hold,0.619722561657,0.0100544849551,1.07002912853,0.590293291365,0.0187272156178,1.0696984227
+249,4.150000000,pose2_hold,0.619722561657,0.0100544849551,1.07002912853,0.590293291365,0.0187272156178,1.0696984227
+250,4.166666667,pose2_hold,0.619722561657,0.0100544849551,1.07002912853,0.590293291365,0.0187272156177,1.0696984227
+251,4.183333333,pose2_hold,0.619722561657,0.0100544849551,1.07002912853,0.590293291365,0.0187272156177,1.0696984227
+252,4.200000000,pose2_hold,0.619722561657,0.0100544849551,1.07002912853,0.590293291365,0.0187272156178,1.0696984227
+253,4.216666667,pose2_hold,0.619722561657,0.0100544849551,1.07002912853,0.590293291365,0.0187272156176,1.0696984227
+254,4.233333333,pose2_hold,0.619722561657,0.0100544849551,1.07002912853,0.590293291365,0.0187272156176,1.0696984227
+255,4.250000000,pose2_hold,0.619722561657,0.0100544849551,1.07002912853,0.590293291365,0.0187272156175,1.0696984227
+256,4.266666667,pose2_hold,0.619722561657,0.0100544849551,1.07002912853,0.590293291365,0.0187272156177,1.0696984227
+257,4.283333333,pose2_hold,0.619722561657,0.0100544849551,1.07002912853,0.590293291365,0.0187272156176,1.0696984227
+258,4.300000000,pose2_hold,0.619722561657,0.0100544849551,1.07002912853,0.590293291366,0.0187272156172,1.0696984227
+259,4.316666667,pose2_hold,0.619722561657,0.0100544849551,1.07002912853,0.590293291366,0.0187272156172,1.0696984227
+260,4.333333333,pose2_to_pose3_retreat,0.619722561657,0.0100544849551,1.07002912853,0.590293291366,0.0187272156173,1.0696984227
+261,4.350000000,pose2_to_pose3_retreat,0.619722446852,0.0100546020645,1.0700291635,0.59029317746,0.0187273355767,1.0696984523
+262,4.366666667,pose2_to_pose3_retreat,0.619722239253,0.0100546831859,1.07002923353,0.590292966868,0.0187274065499,1.06969852266
+263,4.383333333,pose2_to_pose3_retreat,0.619721672107,0.0100547627911,1.07002926496,0.590292398799,0.0187274830636,1.06969855503
+264,4.400000000,pose2_to_pose3_retreat,0.619721459156,0.0100547826422,1.07002926545,0.590292186014,0.0187275034952,1.06969855589
+265,4.416666667,pose2_to_pose3_retreat,0.619721164268,0.0100548101315,1.07002926613,0.590291891355,0.0187275317883,1.06969855708
+266,4.433333333,pose2_to_pose3_retreat,0.619719808533,0.0100547301355,1.07002916189,0.590290536742,0.0187274555169,1.06969845126
+267,4.450000000,pose2_to_pose3_retreat,0.619715939732,0.01005460494,1.07002902487,0.590286669367,0.0187273351539,1.0696983139
+268,4.466666667,pose2_to_pose3_retreat,0.619707138338,0.0100545410506,1.0700290538,0.590277868604,0.0187272732536,1.0696983375
+269,4.483333333,pose2_to_pose3_retreat,0.619689930225,0.0100545982869,1.07002927439,0.590260658184,0.0187273224939,1.06969855724
+270,4.500000000,pose2_to_pose3_retreat,0.61966278692,0.0100546349973,1.07002921921,0.590233516677,0.0187273652648,1.06969850627
+271,4.516666667,pose2_to_pose3_retreat,0.619624300382,0.0100545078895,1.07002900977,0.59019503113,0.0187272407664,1.06969831246
+272,4.533333333,pose2_to_pose3_retreat,0.619575114367,0.0100544394229,1.07002920587,0.590145845143,0.0187271729939,1.06969847926
+273,4.550000000,pose2_to_pose3_retreat,0.619514414039,0.0100545581269,1.07002963163,0.59008514481,0.0187272916777,1.06969890802
+274,4.566666667,pose2_to_pose3_retreat,0.619444257443,0.0100546879665,1.07002914763,0.590014987455,0.018727418943,1.06969843387
+275,4.583333333,pose2_to_pose3_retreat,0.61936499498,0.0100545939769,1.07002900101,0.589935724098,0.0187273226424,1.06969829629
+276,4.600000000,pose2_to_pose3_retreat,0.61927375073,0.0100546908267,1.07002903688,0.589844476921,0.0187274088806,1.06969832424
+277,4.616666667,pose2_to_pose3_retreat,0.619169742363,0.0100546689186,1.07002901826,0.5897404714,0.0187273967155,1.06969830967
+278,4.633333333,pose2_to_pose3_retreat,0.619047559313,0.0100544518457,1.07002915737,0.589618290851,0.0187271877592,1.06969844198
+279,4.650000000,pose2_to_pose3_retreat,0.618906912376,0.0100545668858,1.07002924144,0.589477642132,0.0187272968693,1.06969853142
+280,4.666666667,pose2_to_pose3_retreat,0.618744409162,0.0100546086755,1.07002903776,0.589315137954,0.0187273354005,1.06969833159
+281,4.683333333,pose2_to_pose3_retreat,0.618560427701,0.0100545175382,1.07002925874,0.589131157368,0.0187272467163,1.06969854295
+282,4.700000000,pose2_to_pose3_retreat,0.618353565208,0.0100544430126,1.07002906394,0.588924296105,0.018727176439,1.06969835414
+283,4.716666667,pose2_to_pose3_retreat,0.618126808086,0.0100546235703,1.07002893917,0.588697536835,0.0187273494546,1.06969822707
+284,4.733333333,pose2_to_pose3_retreat,0.61787963349,0.0100546500473,1.07002918023,0.588450363006,0.018727378497,1.06969847087
+285,4.750000000,pose2_to_pose3_retreat,0.617607231947,0.010054562697,1.07002928011,0.588177961632,0.0187272913501,1.06969856516
+286,4.766666667,pose2_to_pose3_retreat,0.617310646205,0.0100545945405,1.07002938023,0.587881376481,0.0187273248555,1.06969866245
+287,4.783333333,pose2_to_pose3_retreat,0.616988758193,0.0100546730634,1.07002913253,0.5875594884,0.0187274032796,1.0696984232
+288,4.800000000,pose2_to_pose3_retreat,0.616635570599,0.0100544588081,1.070029131,0.587206302153,0.018727193152,1.0696984157
+289,4.816666667,pose2_to_pose3_retreat,0.616248911953,0.0100544310657,1.0700290724,0.586819643206,0.0187271642827,1.0696983614
+290,4.833333333,pose2_to_pose3_retreat,0.615828781733,0.0100544932339,1.07002921036,0.586399514263,0.0187272305064,1.06969849565
+291,4.850000000,pose2_to_pose3_retreat,0.615378545029,0.01005452509,1.07002935353,0.585949276921,0.0187272601273,1.069698642
+292,4.866666667,pose2_to_pose3_retreat,0.614904448381,0.0100545528032,1.07002920329,0.58547517853,0.0187272818521,1.06969849266
+293,4.883333333,pose2_to_pose3_retreat,0.614416335434,0.0100545437962,1.07002903006,0.584987065131,0.0187272715099,1.06969832571
+294,4.900000000,pose2_to_pose3_retreat,0.61391751412,0.0100546514522,1.07002907524,0.584488242742,0.0187273756211,1.06969837236
+295,4.916666667,pose2_to_pose3_retreat,0.613402581726,0.0100546210101,1.07002913346,0.583973311306,0.0187273482682,1.06969842674
+296,4.933333333,pose2_to_pose3_retreat,0.612866346945,0.0100545537478,1.07002921651,0.583437077333,0.0187272835191,1.06969850427
+297,4.950000000,pose2_to_pose3_retreat,0.612296173187,0.0100545818127,1.07002926134,0.582866903726,0.0187273121902,1.06969855087
+298,4.966666667,pose2_to_pose3_retreat,0.611690609274,0.01005459535,1.070029273,0.582261340435,0.0187273278098,1.06969856103
+299,4.983333333,pose2_to_pose3_retreat,0.611045577036,0.0100545802266,1.07002917047,0.581616307511,0.0187273103055,1.06969845712
+300,5.000000000,pose2_to_pose3_retreat,0.610372023006,0.010054595869,1.07002914534,0.580942753091,0.0187273246453,1.0696984329
+301,5.016666667,pose2_to_pose3_retreat,0.609672113952,0.0100545514794,1.07002922309,0.580242844901,0.0187272830921,1.06969850848
+302,5.033333333,pose2_to_pose3_retreat,0.608933966229,0.0100545365301,1.07002913856,0.579504696417,0.0187272658037,1.06969842935
+303,5.050000000,pose2_to_pose3_retreat,0.608159890242,0.0100545658359,1.07002909148,0.578730619909,0.0187272932791,1.06969837912
+304,5.066666667,pose2_to_pose3_retreat,0.607362684878,0.0100545137188,1.070029112,0.577933416141,0.0187272464199,1.06969839692
+305,5.083333333,pose2_to_pose3_retreat,0.606554688155,0.010054615394,1.07002910384,0.577125418558,0.0187273450284,1.06969838572
+306,5.100000000,pose2_to_pose3_retreat,0.605747429389,0.010054651289,1.07002902303,0.576318158424,0.0187273766192,1.06969831361
+307,5.116666667,pose2_to_pose3_retreat,0.60494668374,0.0100545418642,1.07002917766,0.575517413342,0.0187272690844,1.06969846741
+308,5.133333333,pose2_to_pose3_retreat,0.604146510682,0.0100545420649,1.07002928061,0.574717240904,0.0187272712848,1.06969856751
+309,5.150000000,pose2_to_pose3_retreat,0.603321708983,0.0100545799017,1.07002911536,0.57389243912,0.018727309006,1.06969840685
+310,5.166666667,pose2_to_pose3_retreat,0.602467240287,0.0100545538946,1.07002914209,0.573037970341,0.018727282761,1.06969843507
+311,5.183333333,pose2_to_pose3_retreat,0.601579171761,0.0100545055981,1.07002916603,0.572149902803,0.0187272379169,1.06969846125
+312,5.200000000,pose2_to_pose3_retreat,0.600674632669,0.010054416838,1.07002910053,0.571245364686,0.0187271525902,1.06969839854
+313,5.216666667,pose2_to_pose3_retreat,0.599759817256,0.0100545570687,1.07002931697,0.570330546705,0.0187272836799,1.06969860374
+314,5.233333333,pose2_to_pose3_retreat,0.598866393112,0.010054651895,1.07002922327,0.569437122354,0.0187273778005,1.06969851036
+315,5.250000000,pose2_to_pose3_retreat,0.597993781902,0.0100544982562,1.07002913039,0.568564511779,0.0187272264712,1.06969842147
+316,5.266666667,pose2_to_pose3_retreat,0.597132218684,0.0100545493117,1.07002877048,0.567702947963,0.0187272758996,1.06969807194
+317,5.283333333,pose2_to_pose3_retreat,0.596277613706,0.0100546231179,1.07002886463,0.56684834238,0.0187273474695,1.06969816124
+318,5.300000000,pose2_to_pose3_retreat,0.595423312103,0.0100546751663,1.07002908834,0.565994040323,0.0187273977658,1.06969837951
+319,5.316666667,pose2_to_pose3_retreat,0.594558491975,0.0100546145182,1.07002912292,0.565129221853,0.0187273429033,1.06969841787
+320,5.333333333,pose2_to_pose3_retreat,0.593683292525,0.0100546020137,1.07002912544,0.564254022625,0.0187273311199,1.06969841924
+321,5.350000000,pose2_to_pose3_retreat,0.592807074035,0.0100546554678,1.07002923408,0.56337780264,0.0187273792279,1.0696985207
+322,5.366666667,pose2_to_pose3_retreat,0.591935184387,0.0100545097908,1.07002915013,0.562505914637,0.0187272395529,1.06969844757
+323,5.383333333,pose2_to_pose3_retreat,0.591077724501,0.0100544132197,1.07002929132,0.561648457439,0.0187271519012,1.06969858346
+324,5.400000000,pose2_to_pose3_retreat,0.59024404032,0.0100545944721,1.070029317,0.560814771803,0.0187273279601,1.0696986024
+325,5.416666667,pose2_to_pose3_retreat,0.589445967363,0.0100546124001,1.07002924444,0.560016696519,0.0187273383191,1.06969853846
+326,5.433333333,pose2_to_pose3_retreat,0.588664249448,0.0100545452098,1.0700291429,0.559234979198,0.0187272733488,1.06969844218
+327,5.450000000,pose2_to_pose3_retreat,0.587894674745,0.0100546475456,1.07002924653,0.558465404464,0.0187273750695,1.06969853234
+328,5.466666667,pose2_to_pose3_retreat,0.587144219574,0.0100545605821,1.07002929075,0.557714949912,0.0187272901884,1.06969857599
+329,5.483333333,pose2_to_pose3_retreat,0.586406088977,0.0100546720724,1.07002908353,0.556976818935,0.0187274007961,1.06969837935
+330,5.500000000,pose2_to_pose3_retreat,0.58567977796,0.0100547015126,1.07002919608,0.556250506354,0.0187274245774,1.06969848281
+331,5.516666667,pose2_to_pose3_retreat,0.584982738682,0.0100546414291,1.0700292279,0.555553467551,0.0187273658129,1.06969850686
+332,5.533333333,pose2_to_pose3_retreat,0.584319847004,0.010054506574,1.07002899259,0.554890577083,0.0187272354123,1.06969827989
+333,5.550000000,pose2_to_pose3_retreat,0.583679254467,0.0100545249745,1.07002913724,0.554249985653,0.0187272577382,1.06969842861
+334,5.566666667,pose2_to_pose3_retreat,0.583057091577,0.0100546216383,1.07002907917,0.553627821812,0.0187273513657,1.06969837607
+335,5.583333333,pose2_to_pose3_retreat,0.58245329509,0.0100544915315,1.07002917449,0.55302402589,0.0187272229591,1.06969846626
+336,5.600000000,pose2_to_pose3_retreat,0.58187218199,0.0100545351844,1.07002919947,0.552442912413,0.0187272651036,1.06969848534
+337,5.616666667,pose2_to_pose3_retreat,0.581322408285,0.0100545323433,1.0700291844,0.551893138415,0.0187272610847,1.06969846519
+338,5.633333333,pose2_to_pose3_retreat,0.580810490775,0.0100544947099,1.07002918897,0.551381222287,0.0187272280866,1.06969846861
+339,5.650000000,pose2_to_pose3_retreat,0.5803356185,0.0100545984822,1.07002914752,0.550906348946,0.0187273286297,1.06969843734
+340,5.666666667,pose2_to_pose3_retreat,0.579892026372,0.0100546421207,1.07002914524,0.550462755959,0.0187273693923,1.06969843586
+341,5.683333333,pose2_to_pose3_retreat,0.579473711203,0.0100545971925,1.07002915324,0.550044441415,0.0187273265116,1.06969844171
+342,5.700000000,pose2_to_pose3_retreat,0.579074666052,0.0100545964744,1.07002912717,0.549645396554,0.018727327002,1.06969842145
+343,5.716666667,pose2_to_pose3_retreat,0.578696648644,0.0100546271005,1.07002927818,0.549267378019,0.0187273537851,1.06969857195
+344,5.733333333,pose2_to_pose3_retreat,0.578342679976,0.0100545879127,1.07002925023,0.548913409831,0.0187273159284,1.06969853624
+345,5.750000000,pose2_to_pose3_retreat,0.578015235947,0.0100545930487,1.07002933105,0.5485859649,0.0187273178422,1.06969861287
+346,5.766666667,pose2_to_pose3_retreat,0.577715363927,0.0100545734138,1.07002915803,0.54828609385,0.0187273017332,1.06969844618
+347,5.783333333,pose2_to_pose3_retreat,0.577447904538,0.0100546570006,1.07002916638,0.548018633575,0.0187273824982,1.06969845943
+348,5.800000000,pose2_to_pose3_retreat,0.577208616733,0.0100545630232,1.07002925981,0.547779346772,0.0187272918183,1.06969855008
+349,5.816666667,pose2_to_pose3_retreat,0.576996213683,0.0100545458287,1.07002913055,0.547566943971,0.0187272754414,1.06969842013
+350,5.833333333,pose2_to_pose3_retreat,0.576806284995,0.010054638244,1.0700291559,0.547377015637,0.0187273690482,1.06969844521
+351,5.850000000,pose2_to_pose3_retreat,0.576638231764,0.010054625162,1.07002922343,0.547208962997,0.0187273579005,1.06969851076
+352,5.866666667,pose2_to_pose3_retreat,0.576486865991,0.0100545907499,1.0700291984,0.547057596467,0.0187273209432,1.06969848627
+353,5.883333333,pose2_to_pose3_retreat,0.576351094391,0.0100546653427,1.07002923611,0.546921823591,0.018727391175,1.06969852324
+354,5.900000000,pose2_to_pose3_retreat,0.576230470863,0.0100546719246,1.07002917284,0.54680119922,0.0187273946765,1.06969845472
+355,5.916666667,pose2_to_pose3_retreat,0.576123504541,0.0100545645015,1.07002912298,0.54669423493,0.0187272942265,1.06969840829
+356,5.933333333,pose2_to_pose3_retreat,0.576031013346,0.0100545914942,1.07002906733,0.546601743478,0.0187273204783,1.06969835664
+357,5.950000000,pose2_to_pose3_retreat,0.575953305871,0.0100545318546,1.07002910216,0.546524036128,0.0187272612816,1.06969839234
+358,5.966666667,pose2_to_pose3_retreat,0.575890737351,0.0100546192676,1.07002915319,0.546461466739,0.0187273458601,1.06969844666
+359,5.983333333,pose2_to_pose3_retreat,0.575841779811,0.0100546506417,1.07002934077,0.54641250853,0.0187273748085,1.06969862928
+360,6.000000000,pose2_to_pose3_retreat,0.575804554443,0.0100546062856,1.07002924499,0.546375282275,0.01872732736,1.0696985297
+361,6.016666667,pose2_to_pose3_retreat,0.575777486994,0.0100545688897,1.07002911568,0.546348215801,0.0187272934923,1.0696984065
+362,6.033333333,pose2_to_pose3_retreat,0.575756915559,0.0100546488276,1.07002899255,0.546327645177,0.0187273764196,1.06969828896
+363,6.050000000,pose2_to_pose3_retreat,0.575742045342,0.0100545948132,1.07002910071,0.546312776475,0.0187273274897,1.06969839572
+364,6.066666667,pose2_to_pose3_retreat,0.575731837652,0.0100545861549,1.07002890073,0.546302567997,0.0187273162646,1.06969819852
+365,6.083333333,pose2_to_pose3_retreat,0.575725523537,0.0100545919022,1.07002878684,0.546296253189,0.0187273197256,1.06969808632
+366,6.100000000,pose2_to_pose3_retreat,0.575721346343,0.0100546099929,1.07002898355,0.5462920764,0.0187273391044,1.0696982808
+367,6.116666667,pose2_to_pose3_retreat,0.575718511613,0.0100546222697,1.07002911705,0.546289241945,0.0187273522553,1.06969841278
+368,6.133333333,pose2_to_pose3_retreat,0.575716855878,0.0100545966447,1.07002909003,0.546287585951,0.0187273256624,1.06969838344
+369,6.150000000,pose2_to_pose3_retreat,0.575715542632,0.0100545762738,1.07002906845,0.546286272499,0.0187273045217,1.06969836003
+370,6.166666667,pose2_to_pose3_retreat,0.57571457779,0.0100545613073,1.07002905259,0.546285307505,0.0187272889897,1.06969834282
+371,6.183333333,pose2_to_pose3_retreat,0.57571408548,0.0100545536706,1.0700290445,0.546284815118,0.0187272810645,1.06969833404
+372,6.200000000,pose2_to_pose3_retreat,0.575713928301,0.0100545512325,1.07002904192,0.546284657915,0.0187272785342,1.06969833124
+373,6.216666667,pose2_to_pose3_retreat,0.575713853699,0.0100545500753,1.07002904069,0.546284583301,0.0187272773332,1.06969832991
+374,6.233333333,pose2_to_pose3_retreat,0.575713831963,0.0100545497381,1.07002904034,0.546284561561,0.0187272769833,1.06969832952
+375,6.250000000,pose2_to_pose3_retreat,0.575713614829,0.01005454637,1.07002903677,0.546284344394,0.0187272734879,1.06969832565
+376,6.266666667,pose2_to_pose3_retreat,0.575713372363,0.0100545554158,1.07002905566,0.546284101735,0.0187272818516,1.06969834377
+377,6.283333333,pose2_to_pose3_retreat,0.575713141264,0.0100545673158,1.07002907951,0.546283870413,0.0187272929632,1.06969836679
+378,6.300000000,pose2_to_pose3_retreat,0.575713046055,0.0100545722184,1.07002908934,0.546283775112,0.0187272975409,1.06969837628
+379,6.316666667,pose2_to_pose3_retreat,0.575712810589,0.0100545843432,1.07002911365,0.546283539419,0.0187273088625,1.06969839973
+380,6.333333333,pose2_to_pose3_retreat,0.575712093755,0.0100546212551,1.07002918764,0.546282821894,0.0187273433289,1.06969847113
+381,6.350000000,pose2_to_pose3_retreat,0.575711424142,0.0100546557355,1.07002925677,0.546282151635,0.0187273755248,1.06969853783
+382,6.366666667,pose2_to_pose3_retreat,0.575711031958,0.0100546759302,1.07002929725,0.546281759073,0.0187273943816,1.0696985769
+383,6.383333333,pose2_to_pose3_retreat,0.575710985108,0.0100546783427,1.07002930209,0.546281712177,0.0187273966342,1.06969858156
+384,6.400000000,pose2_to_pose3_retreat,0.575710632302,0.0100546456929,1.07002924077,0.546281359871,0.0187273658113,1.06969852367
+385,6.416666667,pose2_to_pose3_retreat,0.575710372866,0.0100546124712,1.07002917796,0.546281100955,0.0187273344825,1.06969846423
+386,6.433333333,pose2_to_pose3_retreat,0.575710235326,0.0100545948588,1.07002914466,0.546280963691,0.0187273178736,1.06969843271
+387,6.450000000,pose2_to_pose3_retreat,0.575710115435,0.0100545795063,1.07002911563,0.54628084404,0.0187273033958,1.06969840524
+388,6.466666667,pose2_to_pose3_retreat,0.575710114646,0.0100545794053,1.07002911544,0.546280843252,0.0187273033005,1.06969840506
+389,6.483333333,pose2_to_pose3_retreat,0.575710043,0.0100545702308,1.07002909809,0.54628077175,0.0187272946488,1.06969838865
+390,6.500000000,pose2_to_pose3_retreat,0.575709740467,0.0100545314905,1.07002902485,0.546280469823,0.0187272581157,1.06969831933
+391,6.516666667,pose2_to_pose3_retreat,0.575709532503,0.0100545445106,1.07002910755,0.546280262259,0.0187272723373,1.06969839803
+392,6.533333333,pose2_to_pose3_retreat,0.575709451258,0.0100545676283,1.07002920036,0.546280181161,0.0187272957809,1.06969848624
+393,6.550000000,pose2_to_pose3_retreat,0.575709346457,0.0100545903869,1.07002930496,0.546280076661,0.0187273193416,1.06969858517
+394,6.566666667,pose2_to_pose3_retreat,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147

Part2/Obstacle_avoidance/cylinder_0050_20/position_12/depth_03/fem_node.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c5f1987d5ecda7d2bbf4f135f22235bd3a7fed85b8812748a8ca1fefee0b342
+size 25232308

Part2/Obstacle_avoidance/cylinder_0050_20/position_12/depth_03/simulation_data.csv

@@ -0,0 +1,398 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+1,0.016666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+2,0.033333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+3,0.050000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+4,0.066666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+5,0.083333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+6,0.100000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+7,0.116666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+8,0.133333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+9,0.150000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+10,0.166666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+11,0.183333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+12,0.200000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+13,0.216666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+14,0.233333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+15,0.250000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+16,0.266666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+17,0.283333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+18,0.300000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+19,0.316666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+20,0.333333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+21,0.350000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+22,0.366666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+23,0.383333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+24,0.400000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+25,0.416666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+26,0.433333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+27,0.450000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+28,0.466666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+29,0.483333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+30,0.500000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+31,0.516666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+32,0.533333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+33,0.550000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+34,0.566666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+35,0.583333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+36,0.600000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+37,0.616666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+38,0.633333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+39,0.650000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+40,0.666666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+41,0.683333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+42,0.700000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+43,0.716666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+44,0.733333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+45,0.750000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+46,0.766666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+47,0.783333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+48,0.800000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+49,0.816666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+50,0.833333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+51,0.850000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+52,0.866666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+53,0.883333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+54,0.900000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+55,0.916666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+56,0.933333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+57,0.950000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+58,0.966666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+59,0.983333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+60,1.000000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+61,1.016666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+62,1.033333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+63,1.050000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+64,1.066666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+65,1.083333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+66,1.100000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+67,1.116666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+68,1.133333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+69,1.150000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+70,1.166666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+71,1.183333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+72,1.200000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+73,1.216666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+74,1.233333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+75,1.250000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+76,1.266666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+77,1.283333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+78,1.300000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+79,1.316666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+80,1.333333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+81,1.350000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+82,1.366666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+83,1.383333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+84,1.400000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+85,1.416666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+86,1.433333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+87,1.450000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+88,1.466666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+89,1.483333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+90,1.500000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+91,1.516666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+92,1.533333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+93,1.550000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+94,1.566666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+95,1.583333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+96,1.600000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+97,1.616666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+98,1.633333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+99,1.650000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+100,1.666666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+101,1.683333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+102,1.700000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+103,1.716666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+104,1.733333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+105,1.750000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+106,1.766666667,pose1_to_pose2_press,0.575709270927,0.0100545684129,1.07002931416,0.546280001826,0.0187272996178,1.06969859147
+107,1.783333333,pose1_to_pose2_press,0.575709292476,0.0100545753655,1.07002923382,0.546280023151,0.0187273059472,1.06969851479
+108,1.800000000,pose1_to_pose2_press,0.575709303225,0.0100545788334,1.07002919375,0.546280033788,0.0187273091044,1.06969847654
+109,1.816666667,pose1_to_pose2_press,0.575709363038,0.0100545981317,1.07002897077,0.546280092978,0.0187273266731,1.06969826368
+110,1.833333333,pose1_to_pose2_press,0.575709370335,0.0100546004857,1.07002894357,0.546280100198,0.0187273288161,1.06969823771
+111,1.850000000,pose1_to_pose2_press,0.575709455188,0.0100545968767,1.07002889543,0.546280184808,0.0187273244579,1.06969819154
+112,1.866666667,pose1_to_pose2_press,0.575709586494,0.0100545769388,1.07002894515,0.546280316036,0.0187273041501,1.06969823857
+113,1.883333333,pose1_to_pose2_press,0.575710522754,0.0100545088534,1.07002908373,0.546281253381,0.0187272396162,1.0696983737
+114,1.900000000,pose1_to_pose2_press,0.575713797117,0.0100545699695,1.07002891064,0.546284527832,0.0187273010669,1.06969820171
+115,1.916666667,pose1_to_pose2_press,0.57572253588,0.0100546426417,1.07002909145,0.54629326529,0.0187273693284,1.06969838295
+116,1.933333333,pose1_to_pose2_press,0.57573833393,0.0100547050985,1.07002913952,0.54630906252,0.0187274289968,1.06969843064
+117,1.950000000,pose1_to_pose2_press,0.575765730066,0.010054486187,1.07002921677,0.546336461588,0.0187272198533,1.06969850305
+118,1.966666667,pose1_to_pose2_press,0.57580444446,0.0100546499348,1.07002926669,0.546375173166,0.0187273742015,1.06969855706
+119,1.983333333,pose1_to_pose2_press,0.575854922188,0.0100546471562,1.07002915218,0.546425651824,0.0187273744818,1.06969843986
+120,2.000000000,pose1_to_pose2_press,0.575915473379,0.0100544915329,1.07002904185,0.546486205781,0.0187272284016,1.06969833355
+121,2.016666667,pose1_to_pose2_press,0.575986082965,0.0100545172744,1.07002910663,0.5465568152,0.0187272533406,1.06969839214
+122,2.033333333,pose1_to_pose2_press,0.576066976488,0.0100546068089,1.07002921557,0.546637706998,0.01872733704,1.06969850148
+123,2.050000000,pose1_to_pose2_press,0.576158557255,0.0100546264454,1.07002910588,0.546729287376,0.0187273558745,1.0696984053
+124,2.066666667,pose1_to_pose2_press,0.57626423972,0.01005462059,1.07002897889,0.54683496985,0.01872734999,1.06969827676
+125,2.083333333,pose1_to_pose2_press,0.57638484215,0.0100546422008,1.07002902752,0.546955571813,0.0187273698344,1.06969832057
+126,2.100000000,pose1_to_pose2_press,0.576523237054,0.0100546607322,1.07002912107,0.547093966918,0.0187273891487,1.06969841676
+127,2.116666667,pose1_to_pose2_press,0.576679235556,0.0100545853845,1.07002916031,0.547249965577,0.0187273139757,1.06969844652
+128,2.133333333,pose1_to_pose2_press,0.576853696819,0.010054628822,1.07002922749,0.547424426805,0.0187273572233,1.06969851176
+129,2.150000000,pose1_to_pose2_press,0.577043432384,0.0100546312288,1.0700292689,0.547614162489,0.0187273601485,1.06969855611
+130,2.166666667,pose1_to_pose2_press,0.577248269978,0.0100545395099,1.07002920155,0.547819001181,0.0187272722656,1.06969849161
+131,2.183333333,pose1_to_pose2_press,0.577472221878,0.0100545249334,1.07002907807,0.548042953153,0.0187272580386,1.06969837081
+132,2.200000000,pose1_to_pose2_press,0.577716467415,0.0100545516248,1.07002898185,0.548287196949,0.0187272786858,1.06969827091
+133,2.216666667,pose1_to_pose2_press,0.577984539898,0.0100545184191,1.07002893381,0.548555270011,0.0187272475224,1.06969822491
+134,2.233333333,pose1_to_pose2_press,0.57828258104,0.0100544539374,1.07002894969,0.548853312456,0.0187271877228,1.06969824757
+135,2.250000000,pose1_to_pose2_press,0.578610845219,0.0100545787127,1.0700289382,0.549181575726,0.0187273095039,1.06969823835
+136,2.266666667,pose1_to_pose2_press,0.578966558499,0.0100546240936,1.07002913755,0.549537287363,0.0187273490244,1.06969843017
+137,2.283333333,pose1_to_pose2_press,0.579346801647,0.0100546043797,1.07002915582,0.549917530812,0.0187273301811,1.06969844451
+138,2.300000000,pose1_to_pose2_press,0.579751142138,0.0100546303259,1.07002916473,0.550321871657,0.0187273572704,1.06969845179
+139,2.316666667,pose1_to_pose2_press,0.580176188206,0.0100546119556,1.07002908668,0.550746918475,0.0187273417434,1.06969838148
+140,2.333333333,pose1_to_pose2_press,0.580622179253,0.0100546445243,1.07002905799,0.551192908667,0.0187273713043,1.06969834996
+141,2.350000000,pose1_to_pose2_press,0.581091734435,0.0100545291521,1.07002918025,0.551662465361,0.0187272606487,1.0696984613
+142,2.366666667,pose1_to_pose2_press,0.581584258504,0.0100546166383,1.07002910753,0.552154989254,0.0187273478704,1.06969839731
+143,2.383333333,pose1_to_pose2_press,0.582096840392,0.0100546339382,1.07002905318,0.552667570777,0.0187273640665,1.06969834636
+144,2.400000000,pose1_to_pose2_press,0.582633396965,0.0100545402765,1.07002913213,0.553204128949,0.0187272758608,1.06969842605
+145,2.416666667,pose1_to_pose2_press,0.583202601686,0.0100545500384,1.07002911438,0.553773331669,0.0187272786279,1.06969840295
+146,2.433333333,pose1_to_pose2_press,0.583803348441,0.0100545870289,1.07002900736,0.554374079362,0.01872731902,1.0696983016
+147,2.450000000,pose1_to_pose2_press,0.584437544474,0.0100545602575,1.07002901292,0.555008275424,0.0187272922599,1.06969830484
+148,2.466666667,pose1_to_pose2_press,0.585095128073,0.0100545060038,1.07002901659,0.55566585982,0.0187272410478,1.06969831727
+149,2.483333333,pose1_to_pose2_press,0.585769019947,0.0100545087999,1.07002914845,0.556339751371,0.0187272422748,1.06969843678
+150,2.500000000,pose1_to_pose2_press,0.586452007752,0.0100545848584,1.07002923988,0.557022737,0.0187273105813,1.06969851854
+151,2.516666667,pose1_to_pose2_press,0.587143577506,0.0100546279194,1.07002918949,0.55771430545,0.0187273495404,1.06969847659
+152,2.533333333,pose1_to_pose2_press,0.587846798949,0.0100546088645,1.07002902764,0.55841752766,0.0187273331396,1.06969831603
+153,2.550000000,pose1_to_pose2_press,0.588575081373,0.0100545152931,1.07002908504,0.559145811847,0.0187272456872,1.06969837703
+154,2.566666667,pose1_to_pose2_press,0.589328882808,0.0100546145326,1.07002923221,0.55989961215,0.0187273409058,1.06969851942
+155,2.583333333,pose1_to_pose2_press,0.590099431839,0.0100546661511,1.07002914438,0.560670159905,0.0187273882769,1.06969843392
+156,2.600000000,pose1_to_pose2_press,0.590886710248,0.0100544398581,1.07002908549,0.561457441879,0.0187271742723,1.06969837997
+157,2.616666667,pose1_to_pose2_press,0.59169644527,0.0100545611365,1.07002903124,0.562267175961,0.0187272921342,1.06969831977
+158,2.633333333,pose1_to_pose2_press,0.592517211653,0.0100544674752,1.0700291861,0.563087943995,0.0187272039161,1.0696984705
+159,2.650000000,pose1_to_pose2_press,0.593344245724,0.0100545309137,1.0700293119,0.563914977224,0.018727264544,1.06969859752
+160,2.666666667,pose1_to_pose2_press,0.594182285597,0.0100547029788,1.07002914138,0.564753013808,0.0187274256792,1.06969843303
+161,2.683333333,pose1_to_pose2_press,0.595026381101,0.0100547199863,1.07002912716,0.565597109081,0.0187274420147,1.06969842186
+162,2.700000000,pose1_to_pose2_press,0.595872442833,0.010054593403,1.07002918031,0.566443172766,0.0187273220018,1.0696984735
+163,2.716666667,pose1_to_pose2_press,0.596721390667,0.0100544838943,1.07002926404,0.567292121891,0.0187272166994,1.06969855271
+164,2.733333333,pose1_to_pose2_press,0.597571323089,0.0100545526943,1.07002919764,0.568142054088,0.018727284887,1.06969849032
+165,2.750000000,pose1_to_pose2_press,0.598413855255,0.0100546185798,1.07002909626,0.56898458525,0.0187273472748,1.06969838658
+166,2.766666667,pose1_to_pose2_press,0.599244043262,0.010054642071,1.07002902445,0.569814771465,0.0187273646647,1.06969831425
+167,2.783333333,pose1_to_pose2_press,0.600074752016,0.0100545706431,1.07002899968,0.570645481138,0.0187272965242,1.069698294
+168,2.800000000,pose1_to_pose2_press,0.600907171554,0.0100545672914,1.07002904981,0.571477900749,0.0187272934454,1.06969834487
+169,2.816666667,pose1_to_pose2_press,0.601736419475,0.0100545955886,1.07002923304,0.572307148882,0.0187273223052,1.06969852404
+170,2.833333333,pose1_to_pose2_press,0.602573606439,0.0100546185141,1.07002929535,0.573144336274,0.0187273466349,1.06969858516
+171,2.850000000,pose1_to_pose2_press,0.603424391866,0.0100546647207,1.0700290862,0.573995121354,0.0187273917468,1.06969837823
+172,2.866666667,pose1_to_pose2_press,0.604261967027,0.0100545588036,1.07002900898,0.574832697147,0.0187272879865,1.06969830143
+173,2.883333333,pose1_to_pose2_press,0.60508707452,0.0100546164104,1.07002895183,0.575657803565,0.0187273419041,1.06969824327
+174,2.900000000,pose1_to_pose2_press,0.605896661075,0.0100544747912,1.07002893968,0.576467392172,0.018727207378,1.06969823462
+175,2.916666667,pose1_to_pose2_press,0.606683939165,0.0100544894227,1.07002921357,0.577254669581,0.0187272194516,1.06969850216
+176,2.933333333,pose1_to_pose2_press,0.607440955405,0.0100546150988,1.07002926409,0.578011684895,0.0187273419122,1.06969855083
+177,2.950000000,pose1_to_pose2_press,0.608180735747,0.0100545929847,1.07002915137,0.578751466038,0.0187273225239,1.06969843837
+178,2.966666667,pose1_to_pose2_press,0.608910073987,0.0100546459948,1.07002914859,0.579480803734,0.0187273737942,1.06969843837
+179,2.983333333,pose1_to_pose2_press,0.609626534212,0.0100545822397,1.07002905242,0.580197265349,0.0187273150195,1.06969834931
+180,3.000000000,pose1_to_pose2_press,0.610330579235,0.010054560585,1.07002912283,0.580901310227,0.0187272928505,1.06969841917
+181,3.016666667,pose1_to_pose2_press,0.611021436957,0.0100546462175,1.07002919402,0.581592166746,0.0187273741647,1.06969848423
+182,3.033333333,pose1_to_pose2_press,0.611685071907,0.0100546619994,1.0700290775,0.58225580114,0.0187273879987,1.06969836624
+183,3.050000000,pose1_to_pose2_press,0.612311181642,0.01005471667,1.0700291623,0.582881909549,0.018727438202,1.06969845198
+184,3.066666667,pose1_to_pose2_press,0.612907731899,0.0100546644614,1.07002919832,0.583478461391,0.0187273913307,1.06969848725
+185,3.083333333,pose1_to_pose2_press,0.613475477969,0.0100545695684,1.07002914719,0.584046208648,0.0187273004549,1.0696984354
+186,3.100000000,pose1_to_pose2_press,0.614009818913,0.0100545433853,1.07002906895,0.584580550051,0.0187272760418,1.06969836136
+187,3.116666667,pose1_to_pose2_press,0.614514969984,0.0100546242095,1.07002898555,0.585085700214,0.0187273540936,1.06969828432
+188,3.133333333,pose1_to_pose2_press,0.614992562531,0.010054596967,1.07002904802,0.585563292414,0.018727325573,1.06969834229
+189,3.150000000,pose1_to_pose2_press,0.615451160282,0.0100543749731,1.07002917666,0.586021893139,0.0187271132528,1.06969845822
+190,3.166666667,pose1_to_pose2_press,0.615893897907,0.0100544282509,1.07002914924,0.586464629718,0.0187271630887,1.06969843139
+191,3.183333333,pose1_to_pose2_press,0.616328540731,0.0100545151332,1.07002906525,0.586899272039,0.0187272488313,1.06969835719
+192,3.200000000,pose1_to_pose2_press,0.616755358216,0.0100546412974,1.07002923762,0.587326086977,0.0187273665388,1.06969852816
+193,3.216666667,pose1_to_pose2_press,0.617165849376,0.010054712234,1.07002914842,0.587736576775,0.0187274332638,1.06969844356
+194,3.233333333,pose1_to_pose2_press,0.61755242107,0.0100547395827,1.07002923865,0.588123148583,0.0187274609026,1.06969852526
+195,3.250000000,pose1_to_pose2_press,0.617906321606,0.010054546003,1.07002917922,0.588477052023,0.0187272775453,1.06969846921
+196,3.266666667,pose1_to_pose2_press,0.618224414822,0.0100545572616,1.0700291309,0.58879514554,0.0187272901145,1.06969842301
+197,3.283333333,pose1_to_pose2_press,0.618506715239,0.0100546960742,1.07002889739,0.589077444075,0.0187274230128,1.06969819691
+198,3.300000000,pose1_to_pose2_press,0.618763598786,0.010054537204,1.07002906108,0.589334328549,0.0187272670182,1.06969834833
+199,3.316666667,pose1_to_pose2_press,0.618999531979,0.0100546268317,1.07002915522,0.589570260768,0.0187273535545,1.0696984439
+200,3.333333333,pose1_to_pose2_press,0.619219341361,0.0100545094386,1.07002915152,0.589790071882,0.0187272421418,1.06969843997
+201,3.350000000,pose1_to_pose2_press,0.619424175934,0.0100543535034,1.07002912588,0.589994907582,0.0187270903088,1.06969841633
+202,3.366666667,pose1_to_pose2_press,0.619612482874,0.0100544004489,1.0700289923,0.590183214661,0.018727138115,1.06969828894
+203,3.383333333,pose1_to_pose2_press,0.619783399177,0.0100546486445,1.07002914783,0.590354126298,0.0187273703624,1.06969843607
+204,3.400000000,pose1_to_pose2_press,0.619936681197,0.0100545697317,1.07002904249,0.590507411088,0.0187273008539,1.06969832807
+205,3.416666667,pose1_to_pose2_press,0.620070394634,0.0100546114847,1.07002900542,0.59064112289,0.0187273374166,1.06969829819
+206,3.433333333,pose1_to_pose2_press,0.620187466613,0.0100545597678,1.07002915156,0.590758196193,0.0187272900813,1.06969843866
+207,3.450000000,pose1_to_pose2_press,0.620288715767,0.0100546076345,1.07002900564,0.590859444935,0.0187273369324,1.06969830065
+208,3.466666667,pose1_to_pose2_press,0.62037568705,0.0100545104868,1.07002918093,0.590946416101,0.0187272387549,1.06969846023
+209,3.483333333,pose1_to_pose2_press,0.62044878822,0.0100545551233,1.07002892245,0.591019516734,0.018727282356,1.06969821061
+210,3.500000000,pose1_to_pose2_press,0.620510251228,0.0100545873146,1.07002914213,0.591080981021,0.0187273184906,1.06969842582
+211,3.516666667,pose1_to_pose2_press,0.620561019321,0.0100545278377,1.07002878862,0.59113174919,0.0187272598806,1.06969808918
+212,3.533333333,pose1_to_pose2_press,0.620601373004,0.0100545142551,1.07002893223,0.591172102933,0.0187272464838,1.0696982303
+213,3.550000000,pose1_to_pose2_press,0.620633447364,0.0100545561715,1.07002893537,0.591204176196,0.0187272845159,1.06969822616
+214,3.566666667,pose1_to_pose2_press,0.620658053088,0.0100545512736,1.07002910918,0.591228781771,0.0187272792799,1.0696984017
+215,3.583333333,pose1_to_pose2_press,0.620676730456,0.0100546385169,1.07002924357,0.591247458627,0.0187273648668,1.06969853935
+216,3.600000000,pose1_to_pose2_press,0.620690161006,0.0100547271565,1.07002926525,0.59126088849,0.0187274510657,1.06969856094
+217,3.616666667,pose1_to_pose2_press,0.620700162768,0.0100545661204,1.0700293583,0.591270891207,0.0187272932048,1.06969865199
+218,3.633333333,pose1_to_pose2_press,0.620707154475,0.0100546161427,1.07002915198,0.591277882613,0.0187273421484,1.06969844184
+219,3.650000000,pose1_to_pose2_press,0.620711546598,0.0100545894977,1.07002906724,0.591282275311,0.0187273173628,1.06969835419
+220,3.666666667,pose1_to_pose2_press,0.620714334661,0.0100544528842,1.07002912673,0.591285065144,0.0187271866168,1.06969841131
+221,3.683333333,pose1_to_pose2_press,0.620715947674,0.0100543738475,1.07002916115,0.591286679181,0.0187271109747,1.06969844436
+222,3.700000000,pose1_to_pose2_press,0.620717061075,0.010054381964,1.07002913898,0.591287792561,0.0187271190231,1.06969842225
+223,3.716666667,pose1_to_pose2_press,0.620717739503,0.0100543997888,1.07002911603,0.591288470826,0.0187271363109,1.06969839955
+224,3.733333333,pose1_to_pose2_press,0.620717997231,0.0100544065602,1.07002910731,0.591288728492,0.0187271428784,1.06969839093
+225,3.750000000,pose1_to_pose2_press,0.620718099316,0.0100544092424,1.07002910386,0.591288830553,0.0187271454797,1.06969838751
+226,3.766666667,pose1_to_pose2_press,0.620718300094,0.0100544145175,1.07002909707,0.591289031283,0.018727150596,1.06969838079
+227,3.783333333,pose1_to_pose2_press,0.620718607816,0.0100544226025,1.07002908666,0.59128933893,0.0187271584374,1.0696983705
+228,3.800000000,pose1_to_pose2_press,0.620719021055,0.0100544334598,1.07002907269,0.59128975207,0.0187271689676,1.06969835667
+229,3.816666667,pose1_to_pose2_press,0.620719420732,0.0100544439608,1.07002905917,0.591290151651,0.0187271791522,1.06969834329
+230,3.833333333,pose1_to_pose2_press,0.620719697717,0.0100544512382,1.0700290498,0.59129042857,0.0187271862104,1.06969833402
+231,3.850000000,pose1_to_pose2_press,0.620719712063,0.0100544516151,1.07002904932,0.591290442912,0.0187271865759,1.06969833354
+232,3.866666667,pose1_to_pose2_press,0.620719872635,0.0100544608514,1.07002907164,0.591290603407,0.018727195556,1.06969835605
+233,3.883333333,pose1_to_pose2_press,0.620720153777,0.0100544794091,1.07002912391,0.591290884393,0.0187272136034,1.06969840871
+234,3.900000000,pose1_to_pose2_press,0.620720221239,0.010054483862,1.07002913646,0.591290951817,0.018727217934,1.06969842134
+235,3.916666667,pose1_to_pose2_press,0.620720397819,0.0100544955177,1.07002916929,0.5912911283,0.0187272292692,1.06969845442
+236,3.933333333,pose1_to_pose2_press,0.620720644705,0.0100545118142,1.0700292152,0.59129137505,0.0187272451177,1.06969850066
+237,3.950000000,pose1_to_pose2_press,0.62072093669,0.0100545310875,1.07002926949,0.591291666873,0.0187272638611,1.06969855535
+238,3.966666667,pose1_to_pose2_press,0.62072125859,0.0100545523355,1.07002932935,0.591291988595,0.0187272845249,1.06969861564
+239,3.983333333,pose1_to_pose2_press,0.620721628753,0.0100545767692,1.07002939818,0.591292358554,0.0187273082869,1.06969868497
+240,4.000000000,pose1_to_pose2_press,0.620721954139,0.0100546270643,1.07002916014,0.591292683492,0.0187273571526,1.06969844923
+241,4.016666667,pose1_to_pose2_press,0.62072220325,0.0100546675196,1.0700289577,0.591292932243,0.0187273964569,1.06969824867
+242,4.033333333,pose1_to_pose2_press,0.620722425132,0.0100545838141,1.07002887033,0.591293154052,0.0187273127153,1.06969816673
+243,4.050000000,pose1_to_pose2_press,0.620722549977,0.0100545079403,1.07002903384,0.591293278947,0.0187272366419,1.06969832066
+244,4.066666667,pose2_hold,0.620722549977,0.0100545079403,1.07002903384,0.591293278949,0.018727236641,1.06969832066
+245,4.083333333,pose2_hold,0.620722549977,0.0100545079403,1.07002903384,0.59129327895,0.0187272366396,1.06969832066
+246,4.100000000,pose2_hold,0.620722549977,0.0100545079403,1.07002903384,0.59129327895,0.0187272366395,1.06969832066
+247,4.116666667,pose2_hold,0.620722549977,0.0100545079403,1.07002903384,0.59129327895,0.0187272366408,1.06969832066
+248,4.133333333,pose2_hold,0.620722549977,0.0100545079403,1.07002903384,0.591293278951,0.0187272366397,1.06969832066
+249,4.150000000,pose2_hold,0.620722549977,0.0100545079403,1.07002903384,0.591293278951,0.0187272366395,1.06969832066
+250,4.166666667,pose2_hold,0.620722549977,0.0100545079403,1.07002903384,0.591293278951,0.0187272366394,1.06969832066
+251,4.183333333,pose2_hold,0.620722549977,0.0100545079403,1.07002903384,0.591293278951,0.0187272366392,1.06969832066
+252,4.200000000,pose2_hold,0.620722549977,0.0100545079403,1.07002903384,0.591293278951,0.0187272366403,1.06969832066
+253,4.216666667,pose2_hold,0.620722549977,0.0100545079403,1.07002903384,0.591293278951,0.0187272366389,1.06969832066
+254,4.233333333,pose2_hold,0.620722549977,0.0100545079403,1.07002903384,0.591293278952,0.0187272366385,1.06969832066
+255,4.250000000,pose2_hold,0.620722549977,0.0100545079403,1.07002903384,0.591293278952,0.0187272366399,1.06969832066
+256,4.266666667,pose2_hold,0.620722549977,0.0100545079403,1.07002903384,0.591293278952,0.0187272366395,1.06969832066
+257,4.283333333,pose2_hold,0.620722549977,0.0100545079403,1.07002903384,0.591293278953,0.0187272366394,1.06969832066
+258,4.300000000,pose2_hold,0.620722549977,0.0100545079403,1.07002903384,0.591293278954,0.0187272366369,1.06969832066
+259,4.316666667,pose2_hold,0.620722549977,0.0100545079403,1.07002903384,0.591293278953,0.0187272366399,1.06969832066
+260,4.333333333,pose2_hold,0.620722549977,0.0100545079403,1.07002903384,0.591293278954,0.0187272366377,1.06969832066
+261,4.350000000,pose2_hold,0.620722549977,0.0100545079403,1.07002903384,0.591293278955,0.0187272366373,1.06969832066
+262,4.366666667,pose2_to_pose3_retreat,0.620722549977,0.0100545079403,1.07002903384,0.591293278954,0.0187272366385,1.06969832066
+263,4.383333333,pose2_to_pose3_retreat,0.620722449543,0.0100545797278,1.07002894108,0.591293178278,0.0187273076574,1.06969822956
+264,4.400000000,pose2_to_pose3_retreat,0.620722343773,0.0100545862766,1.07002902417,0.591293072909,0.0187273156554,1.06969831526
+265,4.416666667,pose2_to_pose3_retreat,0.620722276866,0.0100545904191,1.07002907674,0.591293006255,0.0187273207146,1.06969836947
+266,4.433333333,pose2_to_pose3_retreat,0.620722135918,0.0100546022719,1.07002912089,0.591292865452,0.0187273331098,1.06969841507
+267,4.450000000,pose2_to_pose3_retreat,0.620721595036,0.0100546557353,1.07002912041,0.591292324134,0.0187273851103,1.06969841494
+268,4.466666667,pose2_to_pose3_retreat,0.620718711799,0.0100545073758,1.07002914819,0.591289439944,0.0187272333097,1.06969843564
+269,4.483333333,pose2_to_pose3_retreat,0.620711403417,0.0100545297887,1.07002909308,0.591282133253,0.018727261527,1.069698383
+270,4.500000000,pose2_to_pose3_retreat,0.620696173809,0.0100545765558,1.07002918276,0.591266901656,0.0187273014162,1.06969846976
+271,4.516666667,pose2_to_pose3_retreat,0.620670036508,0.0100546124328,1.07002925874,0.591240764976,0.0187273395435,1.06969854941
+272,4.533333333,pose2_to_pose3_retreat,0.620631631122,0.0100545301959,1.07002926585,0.591202360161,0.018727259033,1.06969855349
+273,4.550000000,pose2_to_pose3_retreat,0.620581129249,0.0100545541986,1.07002891439,0.591151858393,0.0187272837228,1.06969820969
+274,4.566666667,pose2_to_pose3_retreat,0.620519915625,0.0100545619786,1.07002914031,0.591090644415,0.0187272901965,1.06969843175
+275,4.583333333,pose2_to_pose3_retreat,0.620448760093,0.0100545498501,1.07002926215,0.591019489403,0.0187272794787,1.06969854346
+276,4.600000000,pose2_to_pose3_retreat,0.620367462611,0.010054578362,1.07002900314,0.59093819162,0.0187273072502,1.06969830107
+277,4.616666667,pose2_to_pose3_retreat,0.620273938811,0.0100546471206,1.07002916798,0.590844666842,0.018727372471,1.06969846219
+278,4.633333333,pose2_to_pose3_retreat,0.620165117544,0.0100544894208,1.07002936877,0.59073584937,0.0187272270397,1.06969864982
+279,4.650000000,pose2_to_pose3_retreat,0.62003973536,0.010054465725,1.07002890033,0.590610466187,0.0187272003376,1.06969819445
+280,4.666666667,pose2_to_pose3_retreat,0.619891673254,0.0100546191743,1.0700291671,0.590462401673,0.0187273451092,1.06969845113
+281,4.683333333,pose2_to_pose3_retreat,0.619723190417,0.0100545325077,1.07002913357,0.590293919931,0.0187272622322,1.06969842285
+282,4.700000000,pose2_to_pose3_retreat,0.619534449077,0.0100545373146,1.07002913815,0.590105179547,0.0187272701815,1.06969842849
+283,4.716666667,pose2_to_pose3_retreat,0.619325313298,0.0100545876183,1.07002906304,0.589896043041,0.018727317843,1.069698353
+284,4.733333333,pose2_to_pose3_retreat,0.619094037588,0.0100545749445,1.07002950415,0.589664768004,0.0187273070573,1.06969878965
+285,4.750000000,pose2_to_pose3_retreat,0.618841614865,0.0100546118819,1.07002930814,0.589412342991,0.018727335723,1.06969858568
+286,4.766666667,pose2_to_pose3_retreat,0.61856718696,0.010054451178,1.07002913623,0.589137917901,0.0187271848864,1.06969842585
+287,4.783333333,pose2_to_pose3_retreat,0.618266216745,0.0100546358946,1.07002927114,0.588836946617,0.0187273656809,1.0696985579
+288,4.800000000,pose2_to_pose3_retreat,0.617940916054,0.010054529566,1.07002889505,0.588511646423,0.0187272611254,1.06969819092
+289,4.816666667,pose2_to_pose3_retreat,0.61759077394,0.0100546006309,1.07002904371,0.588161501868,0.0187273232245,1.06969832724
+290,4.833333333,pose2_to_pose3_retreat,0.617214474908,0.0100546075562,1.07002925531,0.587785205151,0.0187273379007,1.06969854244
+291,4.850000000,pose2_to_pose3_retreat,0.616810793488,0.0100545972083,1.07002927112,0.587381523877,0.0187273277622,1.06969855891
+292,4.866666667,pose2_to_pose3_retreat,0.616373762925,0.0100546919607,1.07002935591,0.586944491819,0.0187274174173,1.06969864805
+293,4.883333333,pose2_to_pose3_retreat,0.615904282725,0.0100546832792,1.07002895527,0.586475012187,0.018727410448,1.06969824734
+294,4.900000000,pose2_to_pose3_retreat,0.615401592117,0.0100546023554,1.07002911634,0.585972321738,0.0187273296581,1.06969840482
+295,4.916666667,pose2_to_pose3_retreat,0.614875897845,0.0100546469923,1.07002903908,0.585446627531,0.0187273745231,1.06969832935
+296,4.933333333,pose2_to_pose3_retreat,0.614331978895,0.0100547877498,1.07002891079,0.584902705213,0.0187275038901,1.06969820339
+297,4.950000000,pose2_to_pose3_retreat,0.613777393041,0.0100545628017,1.07002911274,0.584348122451,0.018727289333,1.06969840102
+298,4.966666667,pose2_to_pose3_retreat,0.613211416521,0.0100546074001,1.07002912725,0.583782146962,0.0187273375624,1.06969842105
+299,4.983333333,pose2_to_pose3_retreat,0.612623365595,0.0100546775977,1.07002902846,0.583194094277,0.0187274018812,1.06969832467
+300,5.000000000,pose2_to_pose3_retreat,0.612006512702,0.0100546170965,1.0700289104,0.582577243095,0.0187273472797,1.06969820792
+301,5.016666667,pose2_to_pose3_retreat,0.611348986756,0.0100545684582,1.07002888704,0.581919717369,0.0187272992903,1.06969818098
+302,5.033333333,pose2_to_pose3_retreat,0.610654303033,0.0100545614471,1.07002904366,0.581225033452,0.018727291577,1.06969833656
+303,5.050000000,pose2_to_pose3_retreat,0.609923849334,0.0100546607058,1.07002897732,0.580494579384,0.0187273896101,1.06969827142
+304,5.066666667,pose2_to_pose3_retreat,0.609158815338,0.0100545377174,1.07002924862,0.579729546975,0.0187272716484,1.06969853387
+305,5.083333333,pose2_to_pose3_retreat,0.608362827813,0.0100545185067,1.07002919773,0.578933559007,0.0187272512508,1.06969849074
+306,5.100000000,pose2_to_pose3_retreat,0.607544384976,0.0100545774735,1.07002931017,0.578115113969,0.018727302839,1.0696986033
+307,5.116666667,pose2_to_pose3_retreat,0.606714422427,0.0100545500485,1.07002908612,0.577285152158,0.0187272779371,1.06969838014
+308,5.133333333,pose2_to_pose3_retreat,0.605884005811,0.0100544727407,1.07002900563,0.57645473777,0.0187272081072,1.06969829937
+309,5.150000000,pose2_to_pose3_retreat,0.605054978914,0.0100544348342,1.07002934163,0.575625712351,0.0187271747494,1.06969862301
+310,5.166666667,pose2_to_pose3_retreat,0.604224926209,0.0100544930106,1.07002930712,0.574795657132,0.0187272246103,1.06969859407
+311,5.183333333,pose2_to_pose3_retreat,0.603384875682,0.0100545930956,1.07002912798,0.573955605878,0.0187273227487,1.06969842852
+312,5.200000000,pose2_to_pose3_retreat,0.602525081071,0.0100546461553,1.07002914892,0.573095810341,0.0187273722781,1.06969843934
+313,5.216666667,pose2_to_pose3_retreat,0.601631896695,0.0100546333472,1.0700289736,0.572202624882,0.0187273556398,1.06969826072
+314,5.233333333,pose2_to_pose3_retreat,0.600717927273,0.0100546028303,1.07002899003,0.571288657064,0.0187273308401,1.06969828339
+315,5.250000000,pose2_to_pose3_retreat,0.599787878738,0.0100545793922,1.07002920235,0.570358608682,0.0187273081156,1.06969850043
+316,5.266666667,pose2_to_pose3_retreat,0.598874019099,0.0100546011702,1.07002901735,0.569444749137,0.0187273301931,1.06969831488
+317,5.283333333,pose2_to_pose3_retreat,0.59798144598,0.0100545247438,1.07002911307,0.568552176792,0.0187272562104,1.06969840653
+318,5.300000000,pose2_to_pose3_retreat,0.597113726924,0.0100546612758,1.07002906611,0.567684455858,0.0187273860921,1.06969835201
+319,5.316666667,pose2_to_pose3_retreat,0.596259070745,0.0100545326783,1.07002914021,0.566829801682,0.0187272643152,1.06969842662
+320,5.333333333,pose2_to_pose3_retreat,0.595401154692,0.0100546370607,1.07002917058,0.565971885119,0.0187273668613,1.06969845405
+321,5.350000000,pose2_to_pose3_retreat,0.594529089002,0.0100545580624,1.07002913425,0.565099819829,0.0187272895299,1.06969842589
+322,5.366666667,pose2_to_pose3_retreat,0.593643847483,0.0100545135392,1.0700291485,0.564214577847,0.0187272433601,1.06969843772
+323,5.383333333,pose2_to_pose3_retreat,0.592752149836,0.0100546326358,1.0700293607,0.563322879003,0.0187273583099,1.06969864753
+324,5.400000000,pose2_to_pose3_retreat,0.591867747086,0.0100545404408,1.07002905637,0.562438477073,0.0187272691024,1.06969834843
+325,5.416666667,pose2_to_pose3_retreat,0.59101363673,0.0100544859317,1.07002926171,0.56158436787,0.0187272182194,1.06969854609
+326,5.433333333,pose2_to_pose3_retreat,0.590183312855,0.0100545589923,1.07002906086,0.560754044889,0.0187272943998,1.06969834747
+327,5.450000000,pose2_to_pose3_retreat,0.58937570568,0.0100545803512,1.07002916332,0.559946435804,0.018727309111,1.06969844551
+328,5.466666667,pose2_to_pose3_retreat,0.588585520608,0.0100546260639,1.07002890738,0.559156250947,0.0187273561118,1.06969820418
+329,5.483333333,pose2_to_pose3_retreat,0.58781130959,0.010054471536,1.07002896084,0.558382041952,0.0187272085799,1.06969826118
+330,5.500000000,pose2_to_pose3_retreat,0.587056013183,0.0100545638877,1.0700290053,0.557626743511,0.0187272937618,1.06969829845
+331,5.516666667,pose2_to_pose3_retreat,0.586320534106,0.0100546203204,1.07002911265,0.556891263896,0.0187273483702,1.06969840573
+332,5.533333333,pose2_to_pose3_retreat,0.585609669005,0.0100545536426,1.070029193,0.556180399493,0.0187272835103,1.06969847163
+333,5.550000000,pose2_to_pose3_retreat,0.584924854848,0.0100545291275,1.07002917997,0.5554955848,0.0187272573463,1.06969846323
+334,5.566666667,pose2_to_pose3_retreat,0.58426654605,0.0100545051359,1.07002891926,0.554837275827,0.0187272332184,1.06969821295
+335,5.583333333,pose2_to_pose3_retreat,0.583623887386,0.0100544962512,1.07002900057,0.554194617396,0.0187272249711,1.06969829116
+336,5.600000000,pose2_to_pose3_retreat,0.582995731135,0.0100546636592,1.07002912387,0.553566461205,0.0187273925804,1.06969841461
+337,5.616666667,pose2_to_pose3_retreat,0.582391317509,0.0100545386208,1.07002933848,0.552962048841,0.0187272719421,1.06969863234
+338,5.633333333,pose2_to_pose3_retreat,0.581814248166,0.010054477144,1.0700291869,0.552384978947,0.0187272082438,1.06969847237
+339,5.650000000,pose2_to_pose3_retreat,0.581269997431,0.0100545817218,1.07002914445,0.551840729019,0.0187273157512,1.06969843467
+340,5.666666667,pose2_to_pose3_retreat,0.580763738078,0.0100546142736,1.07002923718,0.551334468887,0.0187273457745,1.06969853042
+341,5.683333333,pose2_to_pose3_retreat,0.580294331208,0.0100544709828,1.07002926442,0.55086506277,0.0187272049158,1.06969855429
+342,5.700000000,pose2_to_pose3_retreat,0.579852945378,0.0100545200438,1.07002916165,0.550423675924,0.0187272505697,1.06969845259
+343,5.716666667,pose2_to_pose3_retreat,0.579435907378,0.0100546294052,1.07002914731,0.550006636833,0.0187273561789,1.06969843697
+344,5.733333333,pose2_to_pose3_retreat,0.579040553762,0.0100545870989,1.07002893782,0.549611283629,0.0187273154343,1.06969823127
+345,5.750000000,pose2_to_pose3_retreat,0.578667686028,0.0100546396341,1.07002897578,0.549238413667,0.0187273604802,1.06969827086
+346,5.766666667,pose2_to_pose3_retreat,0.578319736939,0.0100545994153,1.07002903552,0.548890466048,0.0187273250091,1.06969832411
+347,5.783333333,pose2_to_pose3_retreat,0.577996306818,0.0100544681426,1.07002916051,0.548567038783,0.018727203157,1.06969844214
+348,5.800000000,pose2_to_pose3_retreat,0.577698420341,0.0100547899394,1.07002895976,0.548269148225,0.0187275113001,1.06969824663
+349,5.816666667,pose2_to_pose3_retreat,0.577432119052,0.0100546628005,1.07002896002,0.548002847854,0.0187273878095,1.06969826113
+350,5.833333333,pose2_to_pose3_retreat,0.57719434306,0.0100546295648,1.07002910471,0.547765073161,0.0187273586416,1.06969839691
+351,5.850000000,pose2_to_pose3_retreat,0.576984240711,0.0100545792416,1.07002913992,0.547554970452,0.018727306999,1.06969842949
+352,5.866666667,pose2_to_pose3_retreat,0.576796760801,0.0100545776189,1.07002940134,0.547367491069,0.0187273071119,1.06969868929
+353,5.883333333,pose2_to_pose3_retreat,0.576630751886,0.0100546232756,1.07002927041,0.547201481725,0.0187273514273,1.06969856139
+354,5.900000000,pose2_to_pose3_retreat,0.576480046328,0.0100546615794,1.07002911024,0.547050775566,0.0187273879127,1.06969840712
+355,5.916666667,pose2_to_pose3_retreat,0.576343786795,0.0100546539592,1.07002917032,0.546914516217,0.0187273809669,1.06969846853
+356,5.933333333,pose2_to_pose3_retreat,0.576222901687,0.0100545850355,1.07002924886,0.546793632131,0.0187273153347,1.0696985424
+357,5.950000000,pose2_to_pose3_retreat,0.576116447234,0.0100545510392,1.07002905908,0.546687177369,0.0187272801707,1.0696983501
+358,5.966666667,pose2_to_pose3_retreat,0.576025234406,0.0100545377855,1.07002896496,0.546595964159,0.0187272655996,1.06969825664
+359,5.983333333,pose2_to_pose3_retreat,0.575949047446,0.0100546689102,1.0700290889,0.546519776733,0.0187273951061,1.06969838035
+360,6.000000000,pose2_to_pose3_retreat,0.575887840616,0.0100545961935,1.07002923687,0.546458570922,0.0187273255905,1.06969852205
+361,6.016666667,pose2_to_pose3_retreat,0.57583991856,0.0100545647036,1.0700292784,0.546410649207,0.018727295374,1.06969856507
+362,6.033333333,pose2_to_pose3_retreat,0.575803085821,0.0100545636357,1.07002911046,0.54637381623,0.0187272938159,1.0696984048
+363,6.050000000,pose2_to_pose3_retreat,0.575775679555,0.0100545960937,1.07002905875,0.546346409507,0.0187273247541,1.06969835396
+364,6.066666667,pose2_to_pose3_retreat,0.575754813251,0.0100546554984,1.07002913164,0.546325542655,0.0187273822515,1.06969842513
+365,6.083333333,pose2_to_pose3_retreat,0.575739941099,0.0100546246599,1.0700291436,0.546310670615,0.0187273518197,1.06969843787
+366,6.100000000,pose2_to_pose3_retreat,0.575729670343,0.010054676758,1.07002926336,0.546300399317,0.0187274018143,1.06969855066
+367,6.116666667,pose2_to_pose3_retreat,0.57572336796,0.0100547171895,1.07002909646,0.546294097252,0.0187274435874,1.06969839061
+368,6.133333333,pose2_to_pose3_retreat,0.57571968453,0.0100547374293,1.07002897876,0.546290414056,0.0187274647968,1.06969827768
+369,6.150000000,pose2_to_pose3_retreat,0.575717663592,0.0100546890784,1.07002893794,0.546288393057,0.0187274162137,1.06969823617
+370,6.166666667,pose2_to_pose3_retreat,0.575716487702,0.0100546609452,1.07002891418,0.546287217131,0.0187273879454,1.06969821201
+371,6.183333333,pose2_to_pose3_retreat,0.575715424245,0.010054635502,1.0700288927,0.546286153643,0.0187273623801,1.06969819016
+372,6.200000000,pose2_to_pose3_retreat,0.575714487685,0.0100546130948,1.07002887378,0.546285217054,0.0187273398653,1.06969817093
+373,6.216666667,pose2_to_pose3_retreat,0.575713773826,0.0100545878057,1.07002895115,0.546284503545,0.0187273156435,1.06969824521
+374,6.233333333,pose2_to_pose3_retreat,0.575713237057,0.0100545671447,1.07002902772,0.546283967112,0.0187272960154,1.0696983189
+375,6.250000000,pose2_to_pose3_retreat,0.575712913023,0.0100545546723,1.07002907394,0.546283643282,0.0187272841665,1.06969836338
+376,6.266666667,pose2_to_pose3_retreat,0.575712567947,0.0100545413898,1.07002912317,0.546283298422,0.018727271548,1.06969841076
+377,6.283333333,pose2_to_pose3_retreat,0.57571210628,0.0100545236197,1.07002918903,0.546282837045,0.0187272546662,1.06969847413
+378,6.300000000,pose2_to_pose3_retreat,0.575711935723,0.0100545170548,1.07002921336,0.546282666595,0.0187272484295,1.06969849755
+379,6.316666667,pose2_to_pose3_retreat,0.575711779944,0.0100545110586,1.07002923558,0.546282510914,0.0187272427331,1.06969851893
+380,6.333333333,pose2_to_pose3_retreat,0.575711298983,0.0100544945047,1.07002929535,0.546282030204,0.0187272269437,1.06969857641
+381,6.350000000,pose2_to_pose3_retreat,0.575710763677,0.010054512009,1.07002919976,0.546281494246,0.0187272423461,1.06969848362
+382,6.366666667,pose2_to_pose3_retreat,0.575710498369,0.0100545206844,1.07002915238,0.546281228617,0.0187272499798,1.06969843764
+383,6.383333333,pose2_to_pose3_retreat,0.575710474319,0.0100545214708,1.07002914809,0.546281204537,0.0187272506718,1.06969843347
+384,6.400000000,pose2_to_pose3_retreat,0.575710207432,0.0100545301979,1.07002910043,0.546280937325,0.018727258351,1.06969838721
+385,6.416666667,pose2_to_pose3_retreat,0.57571001344,0.0100545365414,1.07002906579,0.546280743098,0.0187272639327,1.06969835358
+386,6.433333333,pose2_to_pose3_retreat,0.575710009455,0.0100545366717,1.07002906508,0.546280739108,0.0187272640474,1.06969835289
+387,6.450000000,pose2_to_pose3_retreat,0.57570997863,0.0100545376796,1.07002905957,0.546280708246,0.0187272649343,1.06969834755
+388,6.466666667,pose2_to_pose3_retreat,0.575709835859,0.0100545423482,1.07002903408,0.546280565301,0.0187272690423,1.0696983228
+389,6.483333333,pose2_to_pose3_retreat,0.575709572504,0.0100545615912,1.0700290123,0.546280302157,0.0187272891318,1.06969830443
+390,6.500000000,pose2_to_pose3_retreat,0.575709467679,0.0100545697435,1.0700290048,0.54628019744,0.0187272977084,1.06969829838
+391,6.516666667,pose2_to_pose3_retreat,0.575709451837,0.0100545709755,1.07002900367,0.546280181615,0.0187272990045,1.06969829747
+392,6.533333333,pose2_to_pose3_retreat,0.575709396326,0.0100545752926,1.0700289997,0.546280126162,0.0187273035462,1.06969829426
+393,6.550000000,pose2_to_pose3_retreat,0.575709372717,0.0100545747367,1.07002904453,0.546280102712,0.0187273034373,1.06969833669
+394,6.566666667,pose2_to_pose3_retreat,0.575709345614,0.0100545730529,1.07002911632,0.546280075849,0.0187273024203,1.06969840453
+395,6.583333333,pose2_to_pose3_retreat,0.575709291771,0.0100545697079,1.07002925894,0.546280022485,0.0187273003999,1.0696985393
+396,6.600000000,pose2_to_pose3_retreat,0.575709270927,0.0100545758635,1.07002931416,0.546280001827,0.0187273070683,1.06969859147

Part2/Obstacle_avoidance/cylinder_0050_20/position_12/depth_04/fem_node.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c1b0746ea44fdce0bc28da53927bb2637b31fc7b875c60c11b7f1a4fd8e6e34
+size 25409666

Part2/Obstacle_avoidance/cylinder_0050_20/position_12/depth_04/simulation_data.csv

@@ -0,0 +1,401 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+1,0.016666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+2,0.033333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+3,0.050000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+4,0.066666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+5,0.083333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+6,0.100000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+7,0.116666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+8,0.133333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+9,0.150000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+10,0.166666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+11,0.183333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+12,0.200000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+13,0.216666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+14,0.233333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+15,0.250000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+16,0.266666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+17,0.283333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+18,0.300000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+19,0.316666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+20,0.333333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+21,0.350000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+22,0.366666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+23,0.383333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+24,0.400000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+25,0.416666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+26,0.433333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+27,0.450000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+28,0.466666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+29,0.483333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+30,0.500000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+31,0.516666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+32,0.533333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+33,0.550000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+34,0.566666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+35,0.583333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+36,0.600000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+37,0.616666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+38,0.633333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+39,0.650000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+40,0.666666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+41,0.683333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+42,0.700000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+43,0.716666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+44,0.733333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+45,0.750000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+46,0.766666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+47,0.783333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+48,0.800000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+49,0.816666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+50,0.833333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+51,0.850000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+52,0.866666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+53,0.883333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+54,0.900000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+55,0.916666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+56,0.933333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+57,0.950000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+58,0.966666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+59,0.983333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+60,1.000000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+61,1.016666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+62,1.033333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+63,1.050000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+64,1.066666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+65,1.083333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+66,1.100000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+67,1.116666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+68,1.133333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+69,1.150000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+70,1.166666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+71,1.183333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+72,1.200000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+73,1.216666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+74,1.233333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+75,1.250000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+76,1.266666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+77,1.283333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+78,1.300000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+79,1.316666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+80,1.333333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+81,1.350000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+82,1.366666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+83,1.383333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+84,1.400000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+85,1.416666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+86,1.433333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+87,1.450000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+88,1.466666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+89,1.483333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+90,1.500000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+91,1.516666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+92,1.533333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+93,1.550000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+94,1.566666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+95,1.583333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+96,1.600000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+97,1.616666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+98,1.633333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+99,1.650000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+100,1.666666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+101,1.683333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+102,1.700000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+103,1.716666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+104,1.733333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+105,1.750000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+106,1.766666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+107,1.783333333,pose1_to_pose2_press,0.575709270927,0.0100545684129,1.07002931416,0.546280001826,0.0187272996178,1.06969859147
+108,1.800000000,pose1_to_pose2_press,0.575709376796,0.0100546025704,1.07002891949,0.546280106592,0.018727330714,1.06969821472
+109,1.816666667,pose1_to_pose2_press,0.575709521233,0.0100546155075,1.07002899498,0.546280250103,0.0187273404312,1.06969828821
+110,1.833333333,pose1_to_pose2_press,0.575709679326,0.0100546259965,1.07002914456,0.546280407245,0.0187273475002,1.06969843271
+111,1.850000000,pose1_to_pose2_press,0.575709827857,0.0100546358512,1.07002928509,0.546280554883,0.0187273541417,1.06969856847
+112,1.866666667,pose1_to_pose2_press,0.57571062145,0.0100546034542,1.07002921977,0.546281350827,0.0187273297726,1.06969850442
+113,1.883333333,pose1_to_pose2_press,0.575713331525,0.0100544840114,1.07002914341,0.546284062581,0.0187272162003,1.06969843253
+114,1.900000000,pose1_to_pose2_press,0.575719975759,0.0100545950289,1.07002926004,0.546290704139,0.0187273182278,1.06969855158
+115,1.916666667,pose1_to_pose2_press,0.575733674916,0.0100546357213,1.07002935959,0.546304405888,0.0187273674998,1.06969864542
+116,1.933333333,pose1_to_pose2_press,0.575756995966,0.0100545520981,1.07002903779,0.546327727355,0.0187272856617,1.06969833317
+117,1.950000000,pose1_to_pose2_press,0.575791678926,0.0100546405741,1.07002916697,0.546362409156,0.0187273702767,1.06969846427
+118,1.966666667,pose1_to_pose2_press,0.575838154624,0.0100545972257,1.070029034,0.546408882435,0.0187273184101,1.06969832307
+119,1.983333333,pose1_to_pose2_press,0.575895446518,0.0100545144396,1.07002926885,0.546466176903,0.0187272443222,1.06969855695
+120,2.000000000,pose1_to_pose2_press,0.575961918734,0.0100546911071,1.07002929153,0.546532648157,0.0187274178335,1.06969858239
+121,2.016666667,pose1_to_pose2_press,0.57603770423,0.0100546977344,1.07002929706,0.54660843319,0.0187274227578,1.06969858436
+122,2.033333333,pose1_to_pose2_press,0.576124362392,0.0100544432635,1.07002906087,0.546695094018,0.0187271773793,1.06969834926
+123,2.050000000,pose1_to_pose2_press,0.576223905652,0.010054437985,1.07002908908,0.546794637145,0.0187271717979,1.0696983814
+124,2.066666667,pose1_to_pose2_press,0.576337645309,0.0100546527096,1.07002905925,0.546908373171,0.0187273740664,1.06969834785
+125,2.083333333,pose1_to_pose2_press,0.576470129814,0.0100546608183,1.07002916831,0.547040858654,0.018727385343,1.06969845304
+126,2.100000000,pose1_to_pose2_press,0.576619754834,0.0100546478072,1.07002922006,0.54719048361,0.0187273722819,1.06969850911
+127,2.116666667,pose1_to_pose2_press,0.576786042638,0.0100546974413,1.07002936056,0.547356771776,0.0187274230815,1.06969864789
+128,2.133333333,pose1_to_pose2_press,0.576968523337,0.0100546346357,1.07002925612,0.547539253068,0.0187273622169,1.06969854153
+129,2.150000000,pose1_to_pose2_press,0.577168289021,0.0100544760746,1.07002912638,0.547739020576,0.0187272101087,1.06969841864
+130,2.166666667,pose1_to_pose2_press,0.577385406751,0.010054455507,1.07002910332,0.547956137211,0.0187271858965,1.06969839744
+131,2.183333333,pose1_to_pose2_press,0.577621143864,0.0100545869212,1.0700290369,0.54819187305,0.0187273128999,1.06969832859
+132,2.200000000,pose1_to_pose2_press,0.577882252167,0.0100545281219,1.07002914186,0.548452982163,0.0187272569604,1.06969843644
+133,2.216666667,pose1_to_pose2_press,0.578167412766,0.0100548226448,1.07002923274,0.548738140135,0.0187275426178,1.06969852852
+134,2.233333333,pose1_to_pose2_press,0.578478209796,0.0100545788947,1.07002912339,0.549048940977,0.0187273115736,1.06969841317
+135,2.250000000,pose1_to_pose2_press,0.578818163794,0.0100546380133,1.07002894669,0.549388891785,0.0187273597222,1.06969823253
+136,2.266666667,pose1_to_pose2_press,0.579188680438,0.0100545642096,1.07002930564,0.5497594099,0.0187272906636,1.06969858497
+137,2.283333333,pose1_to_pose2_press,0.579582762197,0.0100545792235,1.07002925767,0.550153492101,0.0187273077635,1.06969855226
+138,2.300000000,pose1_to_pose2_press,0.579998937297,0.0100544334178,1.070029373,0.550569669652,0.0187271699658,1.06969865949
+139,2.316666667,pose1_to_pose2_press,0.580438177562,0.0100546403065,1.07002914846,0.551008906516,0.0187273653319,1.06969843533
+140,2.333333333,pose1_to_pose2_press,0.580896331654,0.0100545138917,1.07002910371,0.551467063879,0.0187272504679,1.06969840237
+141,2.350000000,pose1_to_pose2_press,0.581374690852,0.0100545679645,1.07002910505,0.551945421994,0.0187273008987,1.06969840465
+142,2.366666667,pose1_to_pose2_press,0.581876265904,0.0100546083853,1.07002924489,0.552446997391,0.0187273422339,1.06969853763
+143,2.383333333,pose1_to_pose2_press,0.582402357245,0.0100547185208,1.07002913691,0.552973086203,0.0187274437392,1.06969842833
+144,2.400000000,pose1_to_pose2_press,0.582962561087,0.0100546091008,1.07002936653,0.553533289682,0.0187273330849,1.06969865785
+145,2.416666667,pose1_to_pose2_press,0.58355433654,0.010054691349,1.07002909877,0.554125066687,0.018727420877,1.0696983973
+146,2.433333333,pose1_to_pose2_press,0.584179166981,0.010054586068,1.07002903733,0.554749896109,0.0187273118046,1.0696983271
+147,2.450000000,pose1_to_pose2_press,0.584827175666,0.0100545688289,1.07002936751,0.555397904755,0.0187272943016,1.0696986538
+148,2.466666667,pose1_to_pose2_press,0.585493750769,0.0100545523683,1.07002903317,0.556064480847,0.0187272812498,1.06969832083
+149,2.483333333,pose1_to_pose2_press,0.586172611077,0.0100547306152,1.07002902623,0.556743340721,0.0187274582863,1.06969832066
+150,2.500000000,pose1_to_pose2_press,0.586862853242,0.0100547159237,1.07002913227,0.557433580851,0.0187274364776,1.06969842115
+151,2.516666667,pose1_to_pose2_press,0.587565715505,0.0100546004982,1.07002900938,0.558136445917,0.0187273308147,1.06969830482
+152,2.533333333,pose1_to_pose2_press,0.588287781708,0.0100546432019,1.07002910666,0.55885851104,0.0187273699595,1.06969840495
+153,2.550000000,pose1_to_pose2_press,0.589034051103,0.010054709794,1.07002910966,0.559604778518,0.0187274300771,1.06969840868
+154,2.566666667,pose1_to_pose2_press,0.589794872416,0.0100545855374,1.07002912178,0.560365602356,0.0187273141721,1.06969841516
+155,2.583333333,pose1_to_pose2_press,0.590567830534,0.0100545952483,1.07002902719,0.561138560717,0.0187273246055,1.06969831787
+156,2.600000000,pose1_to_pose2_press,0.591369042691,0.0100545421248,1.07002912199,0.56193977288,0.0187272716459,1.0696984164
+157,2.616666667,pose1_to_pose2_press,0.592191686783,0.0100546341946,1.07002902804,0.562762417577,0.018727365668,1.06969831979
+158,2.633333333,pose1_to_pose2_press,0.593021575265,0.0100545800023,1.07002909892,0.563592306138,0.0187273120543,1.06969839888
+159,2.650000000,pose1_to_pose2_press,0.593861561625,0.0100546138169,1.0700291556,0.564432292011,0.0187273437854,1.06969844434
+160,2.666666667,pose1_to_pose2_press,0.594712287545,0.010054533625,1.07002914052,0.565283017653,0.0187272627434,1.06969843168
+161,2.683333333,pose1_to_pose2_press,0.595559839546,0.0100546975984,1.07002911359,0.566130569069,0.0187274247502,1.06969840524
+162,2.700000000,pose1_to_pose2_press,0.596409517229,0.0100545934074,1.0700290255,0.566980245439,0.0187273160488,1.06969831572
+163,2.716666667,pose1_to_pose2_press,0.597268283845,0.0100545668967,1.07002905705,0.56783901378,0.0187272955563,1.06969835161
+164,2.733333333,pose1_to_pose2_press,0.598128761659,0.0100545014811,1.07002937033,0.568699494056,0.0187272382683,1.06969865901
+165,2.750000000,pose1_to_pose2_press,0.598980486421,0.010054485336,1.07002923362,0.569551218923,0.0187272226105,1.06969852585
+166,2.766666667,pose1_to_pose2_press,0.599825853398,0.010054556942,1.07002915098,0.570396584563,0.0187272895304,1.06969843934
+167,2.783333333,pose1_to_pose2_press,0.600669587387,0.0100544586521,1.07002909863,0.571240319874,0.0187271958736,1.06969839088
+168,2.800000000,pose1_to_pose2_press,0.601507236452,0.0100545420895,1.07002888857,0.572077967184,0.0187272734714,1.0696981839
+169,2.816666667,pose1_to_pose2_press,0.60234636258,0.0100545870637,1.0700290702,0.572917093699,0.0187273193986,1.06969835608
+170,2.833333333,pose1_to_pose2_press,0.603201384994,0.0100545709814,1.07002922696,0.573772114844,0.0187272992968,1.06969852047
+171,2.850000000,pose1_to_pose2_press,0.604057838435,0.0100547119559,1.0700291256,0.574628568529,0.0187274411142,1.06969841964
+172,2.866666667,pose1_to_pose2_press,0.60490903972,0.0100545855003,1.07002914792,0.575479769316,0.0187273129949,1.06969844271
+173,2.883333333,pose1_to_pose2_press,0.605742267292,0.0100546196981,1.07002924413,0.576312996951,0.0187273471407,1.06969853201
+174,2.900000000,pose1_to_pose2_press,0.606551120216,0.0100544974976,1.07002906749,0.57712185162,0.018727231326,1.06969836766
+175,2.916666667,pose1_to_pose2_press,0.607332605874,0.0100544701102,1.07002900581,0.577903337631,0.0187272048598,1.06969829883
+176,2.933333333,pose1_to_pose2_press,0.608091483096,0.0100545100965,1.07002904921,0.578662214754,0.0187272443963,1.06969833925
+177,2.950000000,pose1_to_pose2_press,0.60883600739,0.0100545538117,1.07002911556,0.579406737535,0.0187272829316,1.06969840453
+178,2.966666667,pose1_to_pose2_press,0.609577498296,0.0100545463868,1.07002907265,0.580148227894,0.0187272736591,1.0696983619
+179,2.983333333,pose1_to_pose2_press,0.610315768197,0.0100545710864,1.07002924133,0.580886497971,0.0187272989431,1.06969853038
+180,3.000000000,pose1_to_pose2_press,0.611036695654,0.010054582192,1.07002915301,0.581607425983,0.0187273121463,1.06969844778
+181,3.016666667,pose1_to_pose2_press,0.611734466151,0.010054614097,1.07002928177,0.58230519613,0.018727342507,1.06969856721
+182,3.033333333,pose1_to_pose2_press,0.612395296256,0.0100545313071,1.0700292517,0.582966026795,0.0187272615653,1.06969853576
+183,3.050000000,pose1_to_pose2_press,0.613023934821,0.0100545812998,1.07002908154,0.583594665331,0.0187273119194,1.06969837763
+184,3.066666667,pose1_to_pose2_press,0.613620451046,0.0100545738341,1.07002904838,0.584191181033,0.0187273024533,1.06969833796
+185,3.083333333,pose1_to_pose2_press,0.614185413974,0.0100544015517,1.07002913837,0.584756146596,0.0187271392074,1.06969842907
+186,3.100000000,pose1_to_pose2_press,0.614717382675,0.010054353191,1.07002911856,0.585288115075,0.0187270902272,1.06969841094
+187,3.116666667,pose1_to_pose2_press,0.615223449688,0.0100544756079,1.0700290322,0.585794180755,0.018727208035,1.06969832002
+188,3.133333333,pose1_to_pose2_press,0.615710177558,0.0100545327019,1.07002915609,0.586280908991,0.0187272664202,1.06969844291
+189,3.150000000,pose1_to_pose2_press,0.616189290905,0.0100545432988,1.07002929071,0.586760021908,0.0187272755473,1.06969857307
+190,3.166666667,pose1_to_pose2_press,0.616664795016,0.0100546390568,1.07002914074,0.587235524961,0.0187273683909,1.06969843438
+191,3.183333333,pose1_to_pose2_press,0.617135531703,0.0100545490419,1.07002938597,0.587706261561,0.0187272779868,1.06969866998
+192,3.200000000,pose1_to_pose2_press,0.617584140726,0.0100543423916,1.07002890864,0.588154874025,0.0187270836401,1.06969820163
+193,3.216666667,pose1_to_pose2_press,0.618004262313,0.010054476652,1.07002914345,0.588574993198,0.0187272097927,1.06969843328
+194,3.233333333,pose1_to_pose2_press,0.618381871657,0.0100548030561,1.07002924617,0.58895259687,0.0187275173804,1.06969853823
+195,3.250000000,pose1_to_pose2_press,0.618723088998,0.0100545266087,1.07002952011,0.589293820295,0.0187272614942,1.06969880348
+196,3.266666667,pose1_to_pose2_press,0.619031546269,0.0100545845463,1.07002923096,0.589602275594,0.0187273128012,1.06969851132
+197,3.283333333,pose1_to_pose2_press,0.619321511901,0.0100545379604,1.07002916069,0.589892241538,0.0187272677345,1.06969844707
+198,3.300000000,pose1_to_pose2_press,0.61959565212,0.010054587474,1.07002923101,0.590166381609,0.0187273171085,1.06969852115
+199,3.316666667,pose1_to_pose2_press,0.619855051076,0.010054733966,1.07002918771,0.590425778414,0.0187274563648,1.06969847412
+200,3.333333333,pose1_to_pose2_press,0.620098260182,0.0100546044825,1.07002915116,0.590668987943,0.0187273285425,1.06969843759
+201,3.350000000,pose1_to_pose2_press,0.620319782037,0.0100545682366,1.0700290319,0.590890511631,0.018727299007,1.06969832648
+202,3.366666667,pose1_to_pose2_press,0.620519825839,0.0100545596012,1.07002921002,0.591090555663,0.0187272910646,1.06969849693
+203,3.383333333,pose1_to_pose2_press,0.62069630954,0.0100546690364,1.07002929421,0.591267037306,0.018727393553,1.0696985784
+204,3.400000000,pose1_to_pose2_press,0.620852757863,0.0100547092239,1.07002947484,0.59142348498,0.0187274314526,1.06969875287
+205,3.416666667,pose1_to_pose2_press,0.620990188777,0.0100546133398,1.07002921623,0.5915609164,0.018727337813,1.06969850478
+206,3.433333333,pose1_to_pose2_press,0.62111266744,0.0100545251051,1.07002908867,0.59168339633,0.018727254093,1.06969838016
+207,3.450000000,pose1_to_pose2_press,0.621221863621,0.0100545446088,1.07002930303,0.591792593154,0.0187272755636,1.06969858624
+208,3.466666667,pose1_to_pose2_press,0.621318087758,0.0100546610797,1.07002927532,0.591888816488,0.0187273894461,1.06969856138
+209,3.483333333,pose1_to_pose2_press,0.621402470598,0.0100545839153,1.07002928201,0.591973200188,0.0187273152748,1.06969856782
+210,3.500000000,pose1_to_pose2_press,0.621474662353,0.0100544603672,1.07002928147,0.592045392684,0.0187271944726,1.06969856514
+211,3.516666667,pose1_to_pose2_press,0.621534382038,0.0100545654151,1.07002928649,0.592105111581,0.0187272970303,1.06969857572
+212,3.533333333,pose1_to_pose2_press,0.621582041475,0.0100547160474,1.07002945501,0.59215276937,0.0187274421578,1.06969874572
+213,3.550000000,pose1_to_pose2_press,0.621618946654,0.0100547603509,1.07002932767,0.592189673861,0.0187274842949,1.06969861849
+214,3.566666667,pose1_to_pose2_press,0.621647283954,0.0100546555163,1.07002918943,0.592218012686,0.0187273846533,1.06969848136
+215,3.583333333,pose1_to_pose2_press,0.621668028664,0.0100545796508,1.07002924948,0.592238758065,0.0187273110116,1.06969854302
+216,3.600000000,pose1_to_pose2_press,0.62168390802,0.0100547150319,1.07002923171,0.592254635126,0.0187274384683,1.0696985276
+217,3.616666667,pose1_to_pose2_press,0.621695608467,0.0100545013702,1.07002924376,0.592266338481,0.0187272347256,1.06969853694
+218,3.633333333,pose1_to_pose2_press,0.621704223407,0.0100544576989,1.07002927578,0.592274953934,0.0187271924622,1.06969856155
+219,3.650000000,pose1_to_pose2_press,0.621710156611,0.0100544960346,1.07002922143,0.592280886639,0.0187272289793,1.06969850482
+220,3.666666667,pose1_to_pose2_press,0.621713411762,0.0100545629589,1.07002908781,0.592284141018,0.018727293478,1.06969837521
+221,3.683333333,pose1_to_pose2_press,0.621715337741,0.0100545961781,1.07002903554,0.592286066485,0.0187273250477,1.06969832462
+222,3.700000000,pose1_to_pose2_press,0.621716562271,0.0100546002933,1.07002907371,0.592287290542,0.018727327543,1.06969836203
+223,3.716666667,pose1_to_pose2_press,0.621717351887,0.0100546029469,1.07002909833,0.592288079854,0.0187273291521,1.06969838616
+224,3.733333333,pose1_to_pose2_press,0.621717812473,0.0100546044947,1.07002911269,0.592288540262,0.0187273300907,1.06969840023
+225,3.750000000,pose1_to_pose2_press,0.621718233349,0.0100546059091,1.07002912581,0.592288960976,0.0187273309483,1.06969841309
+226,3.766666667,pose1_to_pose2_press,0.621718480319,0.0100546067391,1.07002913351,0.59228920785,0.0187273314516,1.06969842064
+227,3.783333333,pose1_to_pose2_press,0.621718739275,0.0100546076094,1.07002914159,0.592289466707,0.0187273319793,1.06969842855
+228,3.800000000,pose1_to_pose2_press,0.621718818926,0.010054607877,1.07002914407,0.592289546327,0.0187273321416,1.06969843098
+229,3.816666667,pose1_to_pose2_press,0.621719063263,0.0100546087362,1.07002915142,0.592289790615,0.0187273328261,1.069698438
+230,3.833333333,pose1_to_pose2_press,0.621719295297,0.0100546097312,1.07002915716,0.592290022818,0.0187273343554,1.06969844254
+231,3.850000000,pose1_to_pose2_press,0.621719744517,0.0100546116575,1.07002916827,0.592290472367,0.0187273373163,1.06969845134
+232,3.866666667,pose1_to_pose2_press,0.621719863889,0.0100546121693,1.07002917122,0.592290591826,0.0187273381031,1.06969845367
+233,3.883333333,pose1_to_pose2_press,0.621720036984,0.0100546129116,1.0700291755,0.592290765047,0.018727339244,1.06969845706
+234,3.900000000,pose1_to_pose2_press,0.62172043762,0.0100546146295,1.07002918541,0.592291165975,0.0187273418846,1.06969846491
+235,3.916666667,pose1_to_pose2_press,0.621720971079,0.0100546169171,1.0700291986,0.592291699823,0.0187273454006,1.06969847535
+236,3.933333333,pose1_to_pose2_press,0.621721628437,0.0100546359546,1.07002919683,0.592292356685,0.0187273627713,1.06969847374
+237,3.950000000,pose1_to_pose2_press,0.621721975082,0.0100546514367,1.07002918984,0.592292702742,0.018727376307,1.06969846802
+238,3.966666667,pose1_to_pose2_press,0.621722152375,0.0100546593551,1.07002918627,0.592292879734,0.0187273832298,1.0696984651
+239,3.983333333,pose1_to_pose2_press,0.621722304566,0.0100546924544,1.07002923162,0.592293031671,0.0187274155113,1.06969851168
+240,4.000000000,pose1_to_pose2_press,0.621722340395,0.0100547090821,1.07002925856,0.592293067441,0.0187274319588,1.06969853914
+241,4.016666667,pose1_to_pose2_press,0.621722539965,0.01005474909,1.07002937758,0.592293266986,0.0187274719332,1.0696986597
+242,4.033333333,pose1_to_pose2_press,0.62172253943,0.0100546592239,1.0700293243,0.592293266965,0.0187273837226,1.06969860416
+243,4.050000000,pose1_to_pose2_press,0.621722539241,0.0100546274631,1.07002930547,0.592293266958,0.0187273525466,1.06969858453
+244,4.066666667,pose1_to_pose2_press,0.621722539241,0.0100546274631,1.07002930547,0.592293266958,0.0187273525456,1.06969858453
+245,4.083333333,pose2_hold,0.621722539241,0.0100546274631,1.07002930547,0.592293266961,0.0187273525449,1.06969858453
+246,4.100000000,pose2_hold,0.621722539241,0.0100546274631,1.07002930547,0.592293266961,0.0187273525452,1.06969858453
+247,4.116666667,pose2_hold,0.621722539241,0.0100546274631,1.07002930547,0.592293266961,0.0187273525453,1.06969858453
+248,4.133333333,pose2_hold,0.621722539241,0.0100546274631,1.07002930547,0.592293266961,0.018727352545,1.06969858453
+249,4.150000000,pose2_hold,0.621722539241,0.0100546274631,1.07002930547,0.592293266961,0.0187273525452,1.06969858453
+250,4.166666667,pose2_hold,0.621722539241,0.0100546274631,1.07002930547,0.592293266961,0.0187273525449,1.06969858453
+251,4.183333333,pose2_hold,0.621722539241,0.0100546274631,1.07002930547,0.592293266961,0.0187273525453,1.06969858453
+252,4.200000000,pose2_hold,0.621722539241,0.0100546274631,1.07002930547,0.592293266961,0.0187273525454,1.06969858453
+253,4.216666667,pose2_hold,0.621722539241,0.0100546274631,1.07002930547,0.592293266961,0.0187273525456,1.06969858453
+254,4.233333333,pose2_hold,0.621722539241,0.0100546274631,1.07002930547,0.592293266961,0.0187273525457,1.06969858453
+255,4.250000000,pose2_hold,0.621722539241,0.0100546274631,1.07002930547,0.592293266962,0.0187273525456,1.06969858453
+256,4.266666667,pose2_hold,0.621722539241,0.0100546274631,1.07002930547,0.592293266962,0.0187273525456,1.06969858453
+257,4.283333333,pose2_hold,0.621722539241,0.0100546274631,1.07002930547,0.592293266962,0.0187273525453,1.06969858453
+258,4.300000000,pose2_hold,0.621722539241,0.0100546274631,1.07002930547,0.592293266962,0.0187273525457,1.06969858454
+259,4.316666667,pose2_hold,0.621722539241,0.0100546274631,1.07002930547,0.592293266961,0.0187273525458,1.06969858453
+260,4.333333333,pose2_hold,0.621722539241,0.0100546274631,1.07002930547,0.592293266962,0.0187273525453,1.06969858454
+261,4.350000000,pose2_hold,0.621722539241,0.0100546274631,1.07002930547,0.592293266962,0.0187273525457,1.06969858454
+262,4.366666667,pose2_hold,0.621722539241,0.0100546274631,1.07002930547,0.592293266962,0.0187273525457,1.06969858454
+263,4.383333333,pose2_to_pose3_retreat,0.621722539241,0.0100546274631,1.07002930547,0.592293266962,0.0187273525459,1.06969858454
+264,4.400000000,pose2_to_pose3_retreat,0.621722539294,0.0100546363666,1.07002931075,0.592293266964,0.0187273612853,1.06969859004
+265,4.416666667,pose2_to_pose3_retreat,0.621722539418,0.0100546571808,1.07002932309,0.592293266969,0.0187273817161,1.0696986029
+266,4.433333333,pose2_to_pose3_retreat,0.621722539939,0.0100547446648,1.07002937496,0.592293266991,0.0187274675883,1.06969865697
+267,4.450000000,pose2_to_pose3_retreat,0.621722540151,0.0100547802875,1.07002939608,0.592293267,0.0187275025547,1.06969867899
+268,4.466666667,pose2_to_pose3_retreat,0.621722436349,0.0100547615077,1.07002931408,0.592293163085,0.0187274834484,1.06969859853
+269,4.483333333,pose2_to_pose3_retreat,0.621721235291,0.0100545978054,1.0700292316,0.592291964171,0.0187273270184,1.06969851604
+270,4.500000000,pose2_to_pose3_retreat,0.621716702479,0.0100545818248,1.07002905767,0.59228743083,0.0187273096038,1.06969835037
+271,4.516666667,pose2_to_pose3_retreat,0.621705217418,0.010054549493,1.07002925905,0.592275946289,0.0187272788256,1.06969854584
+272,4.533333333,pose2_to_pose3_retreat,0.621683502323,0.0100545942325,1.07002907025,0.592254231235,0.0187273236896,1.06969835665
+273,4.550000000,pose2_to_pose3_retreat,0.621649717586,0.0100547130312,1.07002919365,0.592220445213,0.0187274382718,1.06969849031
+274,4.566666667,pose2_to_pose3_retreat,0.621602655057,0.0100546827442,1.07002897162,0.592173382631,0.0187274079996,1.06969827041
+275,4.583333333,pose2_to_pose3_retreat,0.621543681822,0.0100545720534,1.07002914812,0.592114410155,0.0187272995868,1.06969843746
+276,4.600000000,pose2_to_pose3_retreat,0.621474096924,0.0100545714772,1.07002902311,0.592044825991,0.0187273014077,1.06969831725
+277,4.616666667,pose2_to_pose3_retreat,0.621394185216,0.0100546054646,1.07002914235,0.591964914433,0.01872733549,1.06969843144
+278,4.633333333,pose2_to_pose3_retreat,0.621302756771,0.0100544825469,1.07002916575,0.591873487036,0.0187272160214,1.06969844956
+279,4.650000000,pose2_to_pose3_retreat,0.62119723425,0.0100546048027,1.07002904822,0.591767962991,0.0187273330622,1.06969833412
+280,4.666666667,pose2_to_pose3_retreat,0.621076071633,0.0100546708359,1.07002910047,0.59164679989,0.0187273977587,1.06969839802
+281,4.683333333,pose2_to_pose3_retreat,0.620934847227,0.0100545977684,1.07002913223,0.591505576156,0.0187273266601,1.06969842593
+282,4.700000000,pose2_to_pose3_retreat,0.620774256528,0.0100545916173,1.07002912343,0.591344985266,0.0187273197964,1.06969841798
+283,4.716666667,pose2_to_pose3_retreat,0.620593170186,0.0100545266929,1.07002902607,0.591163899809,0.0187272576328,1.06969831983
+284,4.733333333,pose2_to_pose3_retreat,0.620392074909,0.010054631355,1.07002924351,0.590962803088,0.0187273570008,1.06969853012
+285,4.750000000,pose2_to_pose3_retreat,0.620170254611,0.010054563511,1.07002939822,0.590740984314,0.0187272939042,1.06969867994
+286,4.766666667,pose2_to_pose3_retreat,0.619927497178,0.0100545142559,1.07002930872,0.590498227777,0.0187272476475,1.06969859393
+287,4.783333333,pose2_to_pose3_retreat,0.619662818571,0.0100545670513,1.07002908362,0.590233547682,0.0187272953088,1.06969837196
+288,4.800000000,pose2_to_pose3_retreat,0.619369693151,0.0100545407993,1.07002901948,0.589940423815,0.0187272741379,1.06969830876
+289,4.816666667,pose2_to_pose3_retreat,0.619050769664,0.0100546115083,1.07002910205,0.589621499333,0.0187273412485,1.06969839209
+290,4.833333333,pose2_to_pose3_retreat,0.618706637062,0.010054676225,1.07002913069,0.589277365539,0.0187274017883,1.06969842351
+291,4.850000000,pose2_to_pose3_retreat,0.618339497181,0.0100545622774,1.07002904517,0.588910228155,0.0187272960492,1.06969833699
+292,4.866666667,pose2_to_pose3_retreat,0.617950514561,0.0100546284947,1.07002909267,0.588521245097,0.0187273604386,1.06969838349
+293,4.883333333,pose2_to_pose3_retreat,0.617539113043,0.0100546583614,1.07002913888,0.588109842412,0.0187273860879,1.06969843107
+294,4.900000000,pose2_to_pose3_retreat,0.61710209531,0.0100546428093,1.07002915438,0.587672824121,0.0187273682531,1.06969844279
+295,4.916666667,pose2_to_pose3_retreat,0.616628473386,0.0100545339998,1.0700291539,0.587199204152,0.0187272657724,1.06969844138
+296,4.933333333,pose2_to_pose3_retreat,0.616118215173,0.0100545166359,1.07002927443,0.586688945998,0.0187272484429,1.06969856503
+297,4.950000000,pose2_to_pose3_retreat,0.615569234133,0.010054529841,1.07002924245,0.58613996495,0.0187272614366,1.06969853522
+298,4.966666667,pose2_to_pose3_retreat,0.614998988537,0.0100545226404,1.07002923175,0.58556971966,0.018727254901,1.06969851808
+299,4.983333333,pose2_to_pose3_retreat,0.61441336302,0.0100545909497,1.0700292108,0.58498409322,0.0187273200117,1.06969849593
+300,5.000000000,pose2_to_pose3_retreat,0.613819067785,0.010054607879,1.07002915493,0.584389798057,0.0187273372555,1.0696984416
+301,5.016666667,pose2_to_pose3_retreat,0.613214412249,0.0100545785019,1.07002926245,0.583785142691,0.0187273085284,1.06969855099
+302,5.033333333,pose2_to_pose3_retreat,0.61259224511,0.0100545287964,1.07002933946,0.583162975747,0.0187272594964,1.06969862863
+303,5.050000000,pose2_to_pose3_retreat,0.611940245237,0.0100544845639,1.07002920524,0.582510976418,0.0187272169593,1.06969848995
+304,5.066666667,pose2_to_pose3_retreat,0.611253148972,0.0100545537625,1.07002911358,0.581823880139,0.0187272862064,1.06969840016
+305,5.083333333,pose2_to_pose3_retreat,0.610528758185,0.010054643957,1.07002918435,0.581099489616,0.0187273774953,1.06969847599
+306,5.100000000,pose2_to_pose3_retreat,0.609768805872,0.0100545823561,1.07002904566,0.580339537294,0.0187273159349,1.06969833998
+307,5.116666667,pose2_to_pose3_retreat,0.608970859953,0.010054572845,1.0700291618,0.579541589849,0.0187273009354,1.06969844853
+308,5.133333333,pose2_to_pose3_retreat,0.608141262123,0.0100546109377,1.07002917803,0.578711991818,0.0187273385589,1.06969847041
+309,5.150000000,pose2_to_pose3_retreat,0.607283932205,0.0100546156459,1.07002918571,0.577854661396,0.0187273417237,1.06969848068
+310,5.166666667,pose2_to_pose3_retreat,0.606425378381,0.0100545577847,1.07002922563,0.57699610841,0.0187272867897,1.06969852146
+311,5.183333333,pose2_to_pose3_retreat,0.605575991619,0.0100545125481,1.07002925724,0.576146721934,0.0187272422683,1.06969854796
+312,5.200000000,pose2_to_pose3_retreat,0.604729453813,0.0100544526182,1.07002916594,0.57530018539,0.0187271863131,1.06969844986
+313,5.216666667,pose2_to_pose3_retreat,0.603881664284,0.0100545836562,1.07002924822,0.574452393849,0.0187273108009,1.06969853926
+314,5.233333333,pose2_to_pose3_retreat,0.603022999218,0.0100546767434,1.07002915917,0.573593728142,0.0187274018714,1.06969845436
+315,5.250000000,pose2_to_pose3_retreat,0.602137512141,0.0100545873952,1.07002903294,0.572708242951,0.0187273189121,1.06969832788
+316,5.266666667,pose2_to_pose3_retreat,0.601219741042,0.0100545944619,1.0700291679,0.571790471751,0.018727325327,1.06969845528
+317,5.283333333,pose2_to_pose3_retreat,0.60028700989,0.0100544963919,1.0700290826,0.570857741997,0.0187272320922,1.06969837177
+318,5.300000000,pose2_to_pose3_retreat,0.599347172974,0.0100545785162,1.07002907989,0.569917903867,0.0187273101236,1.06969836917
+319,5.316666667,pose2_to_pose3_retreat,0.598434615426,0.0100545798988,1.07002910184,0.569005345436,0.0187273084125,1.06969838841
+320,5.333333333,pose2_to_pose3_retreat,0.597544598784,0.0100545202563,1.07002921181,0.568115329146,0.0187272500456,1.06969850091
+321,5.350000000,pose2_to_pose3_retreat,0.596670754218,0.0100546206652,1.07002915265,0.56724148348,0.018727346688,1.06969844103
+322,5.366666667,pose2_to_pose3_retreat,0.595804261843,0.0100546070299,1.0700291764,0.566374992378,0.0187273371228,1.06969845801
+323,5.383333333,pose2_to_pose3_retreat,0.594935701139,0.0100544773466,1.07002911698,0.565506433047,0.0187272122895,1.06969840351
+324,5.400000000,pose2_to_pose3_retreat,0.594053082316,0.0100543968995,1.07002894001,0.564623813739,0.0187271304722,1.06969823367
+325,5.416666667,pose2_to_pose3_retreat,0.593161480522,0.0100544361303,1.07002916123,0.563732211753,0.0187271686648,1.06969844455
+326,5.433333333,pose2_to_pose3_retreat,0.59226933682,0.0100546337671,1.07002923334,0.562840066579,0.0187273612642,1.06969851521
+327,5.450000000,pose2_to_pose3_retreat,0.591393997208,0.0100546582802,1.07002921965,0.561964727395,0.0187273874575,1.0696985073
+328,5.466666667,pose2_to_pose3_retreat,0.590547459585,0.0100545387374,1.07002927467,0.561118190602,0.0187272707142,1.06969856186
+329,5.483333333,pose2_to_pose3_retreat,0.589725106897,0.0100545431026,1.07002913351,0.5602958372,0.0187272727102,1.06969842202
+330,5.500000000,pose2_to_pose3_retreat,0.588927599144,0.0100545605708,1.07002915616,0.55949832982,0.0187272914965,1.06969844597
+331,5.516666667,pose2_to_pose3_retreat,0.588147241884,0.0100545905079,1.07002919773,0.558717973251,0.0187273238305,1.06969848888
+332,5.533333333,pose2_to_pose3_retreat,0.587382314253,0.0100545614899,1.07002903501,0.557953046511,0.0187272981379,1.06969833408
+333,5.550000000,pose2_to_pose3_retreat,0.586634753184,0.0100545315532,1.07002913023,0.557205485475,0.0187272681215,1.06969842424
+334,5.566666667,pose2_to_pose3_retreat,0.585906687499,0.01005462507,1.0700291388,0.556477417359,0.0187273531805,1.06969842715
+335,5.583333333,pose2_to_pose3_retreat,0.585202725067,0.0100546459703,1.07002915163,0.555773454217,0.0187273716988,1.06969844068
+336,5.600000000,pose2_to_pose3_retreat,0.584529922389,0.0100545905666,1.07002920923,0.555100653482,0.0187273228261,1.0696984968
+337,5.616666667,pose2_to_pose3_retreat,0.583884160102,0.0100546139832,1.07002937067,0.554454890576,0.0187273439112,1.06969865131
+338,5.633333333,pose2_to_pose3_retreat,0.583255309482,0.0100546046117,1.07002939473,0.553826039359,0.0187273327392,1.06969868101
+339,5.650000000,pose2_to_pose3_retreat,0.582644401459,0.0100546015146,1.07002918676,0.553215131445,0.0187273302151,1.06969847879
+340,5.666666667,pose2_to_pose3_retreat,0.582058931094,0.0100545217471,1.0700291392,0.55262966116,0.0187272506314,1.06969842837
+341,5.683333333,pose2_to_pose3_retreat,0.581501613071,0.0100545108448,1.07002912227,0.552072343556,0.0187272413356,1.06969841688
+342,5.700000000,pose2_to_pose3_retreat,0.580974560127,0.0100546518263,1.07002919649,0.551545290136,0.0187273806303,1.06969849004
+343,5.716666667,pose2_to_pose3_retreat,0.580490360142,0.0100547020127,1.07002917679,0.551061088815,0.0187274262479,1.06969846958
+344,5.733333333,pose2_to_pose3_retreat,0.580039243456,0.0100547364813,1.07002911056,0.550609972213,0.0187274611859,1.069698408
+345,5.750000000,pose2_to_pose3_retreat,0.579610873106,0.0100547410047,1.07002912213,0.550181602584,0.0187274680471,1.06969841671
+346,5.766666667,pose2_to_pose3_retreat,0.579205266538,0.0100546053172,1.07002913065,0.549775996712,0.0187273345994,1.06969842198
+347,5.783333333,pose2_to_pose3_retreat,0.578824714651,0.0100544708389,1.07002893894,0.54939544644,0.0187272057769,1.06969823483
+348,5.800000000,pose2_to_pose3_retreat,0.578465517619,0.0100545288296,1.07002893193,0.549036248031,0.0187272590779,1.06969822713
+349,5.816666667,pose2_to_pose3_retreat,0.578128946238,0.0100545663579,1.0700291923,0.548699676012,0.0187272943007,1.06969848349
+350,5.833333333,pose2_to_pose3_retreat,0.577822843557,0.010054570594,1.07002917567,0.548393574141,0.0187273014331,1.06969847076
+351,5.850000000,pose2_to_pose3_retreat,0.577545780928,0.010054681723,1.07002926705,0.548116510343,0.0187274084365,1.06969855803
+352,5.866666667,pose2_to_pose3_retreat,0.57729960667,0.0100546847063,1.07002934677,0.547870335666,0.0187274098251,1.06969863338
+353,5.883333333,pose2_to_pose3_retreat,0.577079624087,0.0100546587896,1.07002921362,0.547650352364,0.0187273815818,1.06969850332
+354,5.900000000,pose2_to_pose3_retreat,0.576884093258,0.0100546736273,1.07002909723,0.547454822074,0.0187273982769,1.06969838758
+355,5.916666667,pose2_to_pose3_retreat,0.576707819266,0.0100545892523,1.07002900065,0.547278550425,0.0187273220563,1.06969829624
+356,5.933333333,pose2_to_pose3_retreat,0.57654848674,0.0100545123304,1.0700289818,0.547119217901,0.0187272452716,1.06969828078
+357,5.950000000,pose2_to_pose3_retreat,0.576403806026,0.0100545652534,1.07002904843,0.546974536847,0.0187272967367,1.06969833937
+358,5.966666667,pose2_to_pose3_retreat,0.576274594619,0.0100546465588,1.07002916224,0.546845324123,0.0187273734015,1.06969844871
+359,5.983333333,pose2_to_pose3_retreat,0.576162969617,0.0100545219254,1.07002920986,0.546733701774,0.0187272575811,1.06969849227
+360,6.000000000,pose2_to_pose3_retreat,0.576066521504,0.0100546518768,1.07002926113,0.546637251751,0.018727381077,1.06969854646
+361,6.016666667,pose2_to_pose3_retreat,0.575984838546,0.0100546920147,1.0700291009,0.54655556857,0.0187274207826,1.06969839334
+362,6.033333333,pose2_to_pose3_retreat,0.575918043088,0.0100546114141,1.07002904737,0.546488772323,0.018727337474,1.06969833943
+363,6.050000000,pose2_to_pose3_retreat,0.575864353599,0.0100547002853,1.07002910548,0.546435082422,0.0187274247908,1.06969839383
+364,6.066666667,pose2_to_pose3_retreat,0.57582263204,0.010054567749,1.0700289542,0.546393362174,0.0187272967119,1.06969824258
+365,6.083333333,pose2_to_pose3_retreat,0.575790020784,0.0100546157503,1.07002917908,0.54636074974,0.018727340704,1.06969846528
+366,6.100000000,pose2_to_pose3_retreat,0.575765681357,0.0100545402274,1.07002942388,0.546336411637,0.0187272694336,1.06969870413
+367,6.116666667,pose2_to_pose3_retreat,0.575747300379,0.010054560895,1.0700292802,0.546318029735,0.0187272872279,1.06969856745
+368,6.133333333,pose2_to_pose3_retreat,0.575734364572,0.0100545956963,1.07002936067,0.546305095244,0.0187273264943,1.06969864752
+369,6.150000000,pose2_to_pose3_retreat,0.575725570556,0.0100545516189,1.07002926467,0.546296300497,0.0187272798704,1.06969854969
+370,6.166666667,pose2_to_pose3_retreat,0.575719920669,0.0100545350001,1.07002916236,0.546290649781,0.0187272603854,1.06969844603
+371,6.183333333,pose2_to_pose3_retreat,0.575716582381,0.0100546093941,1.07002917042,0.546287311901,0.0187273361472,1.06969845364
+372,6.200000000,pose2_to_pose3_retreat,0.575714555309,0.010054615915,1.07002913034,0.546285285362,0.0187273445189,1.06969841483
+373,6.216666667,pose2_to_pose3_retreat,0.575713670208,0.0100545670062,1.07002905262,0.546284400871,0.0187272977844,1.06969833973
+374,6.233333333,pose2_to_pose3_retreat,0.575712891403,0.0100545239712,1.07002898424,0.546283622604,0.0187272566624,1.06969827365
+375,6.250000000,pose2_to_pose3_retreat,0.575712373599,0.0100544953585,1.07002893877,0.546283105157,0.0187272293217,1.06969822971
+376,6.266666667,pose2_to_pose3_retreat,0.575712219741,0.0100544868567,1.07002892526,0.546282951406,0.0187272211978,1.06969821665
+377,6.283333333,pose2_to_pose3_retreat,0.575712175018,0.0100544843854,1.07002892134,0.546282906714,0.0187272188364,1.06969821286
+378,6.300000000,pose2_to_pose3_retreat,0.575712168318,0.0100544840151,1.07002892075,0.546282900019,0.0187272184826,1.06969821229
+379,6.316666667,pose2_to_pose3_retreat,0.575712095495,0.0100544799911,1.07002891435,0.546282827246,0.0187272146375,1.06969820611
+380,6.333333333,pose2_to_pose3_retreat,0.575711997533,0.0100544745779,1.07002890575,0.546282729351,0.0187272094649,1.0696981978
+381,6.350000000,pose2_to_pose3_retreat,0.575711818772,0.0100544647,1.07002889005,0.546282550714,0.0187272000261,1.06969818263
+382,6.366666667,pose2_to_pose3_retreat,0.575711577856,0.010054463827,1.07002889936,0.546282309805,0.0187271991543,1.06969819143
+383,6.383333333,pose2_to_pose3_retreat,0.575711481043,0.0100544658473,1.07002890891,0.546282212963,0.0187272010625,1.06969820053
+384,6.400000000,pose2_to_pose3_retreat,0.575711399794,0.0100544675427,1.07002891693,0.546282131691,0.0187272026639,1.06969820818
+385,6.416666667,pose2_to_pose3_retreat,0.575711292429,0.0100544697831,1.07002892751,0.546282024295,0.01872720478,1.06969821828
+386,6.433333333,pose2_to_pose3_retreat,0.575711206639,0.0100544715733,1.07002893597,0.546281938479,0.0187272064708,1.06969822635
+387,6.450000000,pose2_to_pose3_retreat,0.575711145996,0.0100544728388,1.07002894196,0.546281877819,0.0187272076661,1.06969823205
+388,6.466666667,pose2_to_pose3_retreat,0.57571104365,0.0100544749744,1.07002895205,0.546281775444,0.0187272096832,1.06969824168
+389,6.483333333,pose2_to_pose3_retreat,0.575710877663,0.0100544784381,1.07002896842,0.546281609408,0.0187272129548,1.0696982573
+390,6.500000000,pose2_to_pose3_retreat,0.575710791925,0.0100544802272,1.07002897687,0.546281523645,0.0187272146446,1.06969826536
+391,6.516666667,pose2_to_pose3_retreat,0.575710468077,0.010054486985,1.07002900881,0.546281199703,0.0187272210275,1.06969829583
+392,6.533333333,pose2_to_pose3_retreat,0.575709909247,0.010054521776,1.07002900498,0.546280640225,0.0187272536647,1.06969829323
+393,6.550000000,pose2_to_pose3_retreat,0.575709863813,0.010054529096,1.07002899322,0.546280594643,0.0187272605171,1.06969828231
+394,6.566666667,pose2_to_pose3_retreat,0.575709677074,0.0100545591821,1.0700289449,0.5462804073,0.0187272886809,1.06969823741
+395,6.583333333,pose2_to_pose3_retreat,0.575709619597,0.0100545684425,1.07002893002,0.546280349637,0.0187272973497,1.06969822359
+396,6.600000000,pose2_to_pose3_retreat,0.575709505115,0.0100545868871,1.07002890039,0.546280234784,0.0187273146158,1.06969819606
+397,6.616666667,pose2_to_pose3_retreat,0.575709352033,0.0100545968644,1.0700290166,0.546280081829,0.0187273248285,1.06969830712
+398,6.633333333,pose2_to_pose3_retreat,0.575709325209,0.0100545909171,1.07002911861,0.546280055354,0.0187273198713,1.06969840407
+399,6.650000000,pose2_to_pose3_retreat,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147

Part2/Obstacle_avoidance/cylinder_0050_20/position_12/depth_05/fem_node.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26b6069601bc181da14453231c730346e75c3228e0c70ec1d3f1ef2365b029f3
+size 25675568

Part2/Obstacle_avoidance/cylinder_0050_20/position_12/depth_05/simulation_data.csv

@@ -0,0 +1,405 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+1,0.016666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+2,0.033333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+3,0.050000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+4,0.066666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+5,0.083333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+6,0.100000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+7,0.116666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+8,0.133333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+9,0.150000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+10,0.166666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+11,0.183333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+12,0.200000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+13,0.216666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+14,0.233333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+15,0.250000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+16,0.266666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+17,0.283333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+18,0.300000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+19,0.316666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+20,0.333333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+21,0.350000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+22,0.366666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+23,0.383333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+24,0.400000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+25,0.416666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+26,0.433333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+27,0.450000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+28,0.466666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+29,0.483333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+30,0.500000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+31,0.516666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+32,0.533333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+33,0.550000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+34,0.566666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+35,0.583333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+36,0.600000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+37,0.616666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+38,0.633333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+39,0.650000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+40,0.666666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+41,0.683333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+42,0.700000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+43,0.716666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+44,0.733333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+45,0.750000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+46,0.766666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+47,0.783333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+48,0.800000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+49,0.816666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+50,0.833333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+51,0.850000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+52,0.866666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+53,0.883333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+54,0.900000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+55,0.916666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+56,0.933333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+57,0.950000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+58,0.966666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+59,0.983333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+60,1.000000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+61,1.016666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+62,1.033333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+63,1.050000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+64,1.066666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+65,1.083333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+66,1.100000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+67,1.116666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+68,1.133333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+69,1.150000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+70,1.166666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+71,1.183333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+72,1.200000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+73,1.216666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+74,1.233333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+75,1.250000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+76,1.266666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+77,1.283333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+78,1.300000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+79,1.316666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+80,1.333333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+81,1.350000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+82,1.366666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+83,1.383333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+84,1.400000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+85,1.416666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+86,1.433333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+87,1.450000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+88,1.466666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+89,1.483333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+90,1.500000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+91,1.516666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+92,1.533333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+93,1.550000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+94,1.566666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+95,1.583333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+96,1.600000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+97,1.616666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+98,1.633333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+99,1.650000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+100,1.666666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+101,1.683333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+102,1.700000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+103,1.716666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+104,1.733333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+105,1.750000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+106,1.766666667,pose1_to_pose2_press,0.575709270927,0.0100545684129,1.07002931416,0.546280001826,0.0187272996178,1.06969859147
+107,1.783333333,pose1_to_pose2_press,0.575709453839,0.0100546027588,1.07002886946,0.546280183277,0.0187273297854,1.06969816723
+108,1.800000000,pose1_to_pose2_press,0.575709715166,0.010054586276,1.07002886437,0.5462804437,0.0187273102848,1.06969816349
+109,1.816666667,pose1_to_pose2_press,0.575710190184,0.0100545502643,1.0700289248,0.546280919783,0.0187272777032,1.06969821913
+110,1.833333333,pose1_to_pose2_press,0.575710614678,0.0100545180374,1.07002897932,0.546281345248,0.0187272486086,1.06969826933
+111,1.850000000,pose1_to_pose2_press,0.575710804196,0.0100545036494,1.07002900367,0.5462815352,0.0187272356191,1.06969829174
+112,1.866666667,pose1_to_pose2_press,0.575711421867,0.0100544634458,1.07002902728,0.546282153699,0.0187271981264,1.06969831281
+113,1.883333333,pose1_to_pose2_press,0.57571322752,0.0100543659574,1.07002892937,0.546283960015,0.0187271030301,1.06969821866
+114,1.900000000,pose1_to_pose2_press,0.575716995907,0.0100544840097,1.070028971,0.546287725986,0.0187272130987,1.06969826577
+115,1.916666667,pose1_to_pose2_press,0.57572621377,0.0100545667777,1.07002902425,0.546296943131,0.0187272933797,1.06969831768
+116,1.933333333,pose1_to_pose2_press,0.575742685336,0.0100545585589,1.07002926056,0.546313417398,0.0187272941976,1.06969855062
+117,1.950000000,pose1_to_pose2_press,0.575769972485,0.0100546814861,1.07002916399,0.546340701706,0.0187274074788,1.0696984538
+118,1.966666667,pose1_to_pose2_press,0.575808569724,0.0100545857745,1.07002913988,0.54637929921,0.0187273129044,1.0696984358
+119,1.983333333,pose1_to_pose2_press,0.575858399704,0.010054572913,1.07002915665,0.546429129375,0.0187273004608,1.06969844705
+120,2.000000000,pose1_to_pose2_press,0.57591782839,0.0100545699266,1.07002922812,0.546488558694,0.0187272995707,1.06969851709
+121,2.016666667,pose1_to_pose2_press,0.575987160275,0.0100546332867,1.07002910997,0.546557890561,0.0187273632088,1.06969840779
+122,2.033333333,pose1_to_pose2_press,0.576066474167,0.0100546863791,1.07002906835,0.546637202794,0.0187274107821,1.06969836902
+123,2.050000000,pose1_to_pose2_press,0.576156469884,0.0100546053347,1.07002922162,0.546727199892,0.018727334075,1.06969851299
+124,2.066666667,pose1_to_pose2_press,0.576261382064,0.0100546791339,1.07002896773,0.546832110549,0.0187274029874,1.06969826647
+125,2.083333333,pose1_to_pose2_press,0.576381224525,0.0100545346185,1.07002904571,0.546951953617,0.0187272604479,1.06969834227
+126,2.100000000,pose1_to_pose2_press,0.576518085081,0.0100544685723,1.07002915347,0.547088815776,0.0187271994924,1.06969844078
+127,2.116666667,pose1_to_pose2_press,0.57667200016,0.0100545562067,1.07002894091,0.547242730468,0.0187272861907,1.06969823811
+128,2.133333333,pose1_to_pose2_press,0.57684445715,0.0100545902958,1.07002888522,0.547415186021,0.0187273152361,1.06969817799
+129,2.150000000,pose1_to_pose2_press,0.577033345083,0.0100545607128,1.07002904109,0.547604074959,0.0187272891321,1.06969833563
+130,2.166666667,pose1_to_pose2_press,0.577238355062,0.0100545708476,1.07002899312,0.547809085798,0.0187273020053,1.06969828288
+131,2.183333333,pose1_to_pose2_press,0.577462642371,0.0100544614883,1.07002905291,0.548033373786,0.0187271949313,1.06969834206
+132,2.200000000,pose1_to_pose2_press,0.577707010987,0.0100545530907,1.07002926276,0.548277741187,0.0187272825167,1.06969855463
+133,2.216666667,pose1_to_pose2_press,0.577974664342,0.0100545946035,1.07002933195,0.548545394212,0.0187273227053,1.06969861839
+134,2.233333333,pose1_to_pose2_press,0.578267453356,0.0100545233591,1.07002923246,0.548838184293,0.0187272549784,1.06969851613
+135,2.250000000,pose1_to_pose2_press,0.57858597799,0.0100544815703,1.07002915349,0.549156709972,0.0187272168914,1.06969844122
+136,2.266666667,pose1_to_pose2_press,0.578934615557,0.0100545267126,1.07002926345,0.54950534704,0.0187272604453,1.06969855383
+137,2.283333333,pose1_to_pose2_press,0.579310022437,0.0100545888096,1.07002926804,0.54988075218,0.0187273165565,1.06969855628
+138,2.300000000,pose1_to_pose2_press,0.57970980434,0.0100545515545,1.07002915258,0.550280534672,0.0187272813103,1.06969844102
+139,2.316666667,pose1_to_pose2_press,0.580132197786,0.0100545239489,1.07002916304,0.550702929046,0.0187272567851,1.06969844965
+140,2.333333333,pose1_to_pose2_press,0.580578028048,0.0100544748656,1.07002916974,0.551148760005,0.0187272099041,1.06969845199
+141,2.350000000,pose1_to_pose2_press,0.581043933031,0.0100545154242,1.07002922064,0.5516146643,0.0187272482252,1.06969850543
+142,2.366666667,pose1_to_pose2_press,0.581530481265,0.0100545535218,1.0700291879,0.552101211379,0.0187272827407,1.06969848147
+143,2.383333333,pose1_to_pose2_press,0.582039529581,0.0100545366589,1.07002910916,0.55261026045,0.0187272686365,1.06969840779
+144,2.400000000,pose1_to_pose2_press,0.582574412029,0.0100545751628,1.07002912034,0.553145143262,0.0187273082898,1.06969841673
+145,2.416666667,pose1_to_pose2_press,0.583142741893,0.0100545782795,1.07002904799,0.553713472714,0.0187273100936,1.06969834656
+146,2.433333333,pose1_to_pose2_press,0.583743820301,0.0100545114479,1.07002904891,0.554314551301,0.0187272438079,1.06969834582
+147,2.450000000,pose1_to_pose2_press,0.58437901186,0.0100544694419,1.07002913973,0.554949743888,0.0187272050446,1.06969843015
+148,2.466666667,pose1_to_pose2_press,0.585037584376,0.0100546476754,1.07002919547,0.555608314751,0.0187273777484,1.06969848794
+149,2.483333333,pose1_to_pose2_press,0.585713407973,0.010054723773,1.07002917773,0.556284136788,0.0187274486296,1.06969847221
+150,2.500000000,pose1_to_pose2_press,0.58639925997,0.0100546324508,1.07002915278,0.556969989448,0.018727359308,1.06969844068
+151,2.516666667,pose1_to_pose2_press,0.58709440192,0.010054637248,1.07002929117,0.557665130184,0.0187273599474,1.06969857803
+152,2.533333333,pose1_to_pose2_press,0.587801738234,0.0100547183021,1.07002925613,0.558372466244,0.0187274402606,1.06969854618
+153,2.550000000,pose1_to_pose2_press,0.588530312258,0.0100547417496,1.07002920967,0.559101041331,0.0187274673585,1.06969850081
+154,2.566666667,pose1_to_pose2_press,0.589280937349,0.0100546817206,1.07002918204,0.559851667374,0.0187274107037,1.06969847692
+155,2.583333333,pose1_to_pose2_press,0.590051571703,0.0100546135543,1.07002919608,0.560622302077,0.0187273435971,1.06969848773
+156,2.600000000,pose1_to_pose2_press,0.590841275494,0.0100546149929,1.0700292011,0.561412004537,0.0187273404001,1.06969848955
+157,2.616666667,pose1_to_pose2_press,0.591654827033,0.0100546388716,1.07002921652,0.562225555094,0.0187273608714,1.0696985031
+158,2.633333333,pose1_to_pose2_press,0.59248417935,0.0100546488568,1.07002928705,0.563054907938,0.0187273725662,1.06969857157
+159,2.650000000,pose1_to_pose2_press,0.593325265463,0.0100546640093,1.07002921188,0.563895995224,0.0187273917944,1.06969849886
+160,2.666666667,pose1_to_pose2_press,0.594172319405,0.0100546689394,1.07002920281,0.564743048275,0.0187273939475,1.06969849625
+161,2.683333333,pose1_to_pose2_press,0.59502249106,0.0100546592167,1.07002908273,0.565593219097,0.0187273815789,1.06969838095
+162,2.700000000,pose1_to_pose2_press,0.595881163169,0.0100547250932,1.07002909359,0.56645189078,0.01872744575,1.06969838507
+163,2.716666667,pose1_to_pose2_press,0.596745610379,0.0100547093921,1.07002923261,0.567316338658,0.0187274321331,1.06969851929
+164,2.733333333,pose1_to_pose2_press,0.597610020633,0.0100545866,1.07002918306,0.568180750397,0.018727314544,1.06969847408
+165,2.750000000,pose1_to_pose2_press,0.598473869193,0.0100545293031,1.0700289852,0.569044599149,0.0187272579192,1.06969827686
+166,2.766666667,pose1_to_pose2_press,0.599332626783,0.0100545937164,1.07002903052,0.56990335643,0.0187273214036,1.06969832537
+167,2.783333333,pose1_to_pose2_press,0.600182855681,0.0100546944238,1.0700291152,0.57075358453,0.0187274194417,1.069698411
+168,2.800000000,pose1_to_pose2_press,0.601030576559,0.0100545207455,1.07002906023,0.571601307166,0.0187272516069,1.06969835297
+169,2.816666667,pose1_to_pose2_press,0.601881422563,0.0100545326177,1.07002906645,0.572452153325,0.0187272641584,1.06969836323
+170,2.833333333,pose1_to_pose2_press,0.602742729292,0.0100546410594,1.07002902207,0.573313459403,0.0187273706095,1.0696983247
+171,2.850000000,pose1_to_pose2_press,0.603618716058,0.0100545807282,1.0700290777,0.574189445198,0.0187273066555,1.06969837174
+172,2.866666667,pose1_to_pose2_press,0.604490738654,0.0100545430205,1.07002898989,0.575061469213,0.0187272735996,1.06969827969
+173,2.883333333,pose1_to_pose2_press,0.605356337388,0.0100545786155,1.07002914645,0.57592706878,0.0187273120848,1.06969843811
+174,2.900000000,pose1_to_pose2_press,0.606194322232,0.0100545907618,1.07002909751,0.576765051496,0.0187273169287,1.06969838708
+175,2.916666667,pose1_to_pose2_press,0.607006363744,0.0100546052645,1.07002903413,0.577577093521,0.018727333102,1.06969832198
+176,2.933333333,pose1_to_pose2_press,0.607797182549,0.0100546082893,1.07002920829,0.578367911893,0.0187273346279,1.06969849539
+177,2.950000000,pose1_to_pose2_press,0.608573349728,0.0100545402652,1.07002917246,0.57914408056,0.0187272719027,1.0696984662
+178,2.966666667,pose1_to_pose2_press,0.609338238573,0.0100545099887,1.07002923255,0.579908969438,0.0187272415634,1.06969852177
+179,2.983333333,pose1_to_pose2_press,0.610099959156,0.0100545636702,1.07002917921,0.580670688848,0.0187272913329,1.06969847023
+180,3.000000000,pose1_to_pose2_press,0.610851002958,0.0100545321476,1.07002932643,0.581421733992,0.0187272642407,1.0696986144
+181,3.016666667,pose1_to_pose2_press,0.611579168678,0.01005457307,1.07002928451,0.582149899157,0.0187273034238,1.06969857635
+182,3.033333333,pose1_to_pose2_press,0.612279416313,0.0100546746993,1.07002915845,0.582850145188,0.0187273996017,1.06969845014
+183,3.050000000,pose1_to_pose2_press,0.61294665619,0.0100546567227,1.07002932932,0.583517385516,0.0187273829408,1.06969861589
+184,3.066666667,pose1_to_pose2_press,0.61358392065,0.0100546198462,1.07002916389,0.584154650097,0.0187273470197,1.06969846396
+185,3.083333333,pose1_to_pose2_press,0.614190028001,0.0100546504741,1.07002929072,0.584760757752,0.0187273785145,1.06969858457
+186,3.100000000,pose1_to_pose2_press,0.614759801434,0.0100546618369,1.07002900483,0.585330531909,0.0187273925055,1.06969830096
+187,3.116666667,pose1_to_pose2_press,0.615300262061,0.0100546634178,1.07002895587,0.585870991552,0.0187273907804,1.06969825077
+188,3.133333333,pose1_to_pose2_press,0.615822670016,0.0100546576543,1.070029148,0.586393398227,0.0187273805577,1.06969843705
+189,3.150000000,pose1_to_pose2_press,0.616340931674,0.0100546472509,1.07002912961,0.586911660296,0.0187273718558,1.06969842156
+190,3.166666667,pose1_to_pose2_press,0.616860355872,0.0100546149991,1.07002907819,0.587431085184,0.0187273423504,1.06969837331
+191,3.183333333,pose1_to_pose2_press,0.617370496077,0.0100545632949,1.0700290102,0.587941225658,0.0187272918283,1.06969830413
+192,3.200000000,pose1_to_pose2_press,0.617862285751,0.0100545855766,1.07002906334,0.588433016461,0.018727318182,1.06969835505
+193,3.216666667,pose1_to_pose2_press,0.618318122451,0.0100545370275,1.07002918175,0.588888853525,0.0187272712402,1.06969847471
+194,3.233333333,pose1_to_pose2_press,0.618734775805,0.0100545504786,1.07002918872,0.589305505859,0.0187272815352,1.0696984824
+195,3.250000000,pose1_to_pose2_press,0.619108360524,0.0100545210624,1.07002906986,0.589679091202,0.0187272545391,1.06969836472
+196,3.266666667,pose1_to_pose2_press,0.619458919103,0.0100544587656,1.07002902181,0.590029650522,0.0187271952283,1.0696983214
+197,3.283333333,pose1_to_pose2_press,0.619791853773,0.0100546205934,1.07002915349,0.590362583336,0.0187273509176,1.06969845017
+198,3.300000000,pose1_to_pose2_press,0.620109917915,0.0100545852598,1.07002919094,0.590680647851,0.0187273169502,1.06969848466
+199,3.316666667,pose1_to_pose2_press,0.620412511371,0.0100545902264,1.0700290524,0.59098324123,0.0187273218881,1.06969834406
+200,3.333333333,pose1_to_pose2_press,0.620694636439,0.0100547093477,1.07002916729,0.591265363292,0.0187274311454,1.06969846094
+201,3.350000000,pose1_to_pose2_press,0.62095417273,0.0100546273469,1.07002916165,0.591524900662,0.0187273531787,1.06969845921
+202,3.366666667,pose1_to_pose2_press,0.621188746397,0.0100544652249,1.07002901032,0.591759475628,0.018727195785,1.06969831103
+203,3.383333333,pose1_to_pose2_press,0.621401764522,0.0100545471291,1.07002914333,0.591972492949,0.0187272750292,1.06969844025
+204,3.400000000,pose1_to_pose2_press,0.621594264119,0.0100545774126,1.07002932823,0.59216499288,0.0187273061408,1.06969861105
+205,3.416666667,pose1_to_pose2_press,0.621767175872,0.0100545780602,1.07002934396,0.592337905197,0.0187273088133,1.06969862676
+206,3.433333333,pose1_to_pose2_press,0.621921638526,0.0100546212074,1.07002918126,0.592492366906,0.0187273492626,1.06969847317
+207,3.450000000,pose1_to_pose2_press,0.622056530362,0.0100546864374,1.07002921402,0.592627257046,0.0187274085567,1.06969849907
+208,3.466666667,pose1_to_pose2_press,0.622173932889,0.0100545715245,1.07002905932,0.592744660567,0.0187272973367,1.0696983498
+209,3.483333333,pose1_to_pose2_press,0.622274187681,0.0100545540801,1.07002905811,0.59284491626,0.0187272833504,1.06969835437
+210,3.500000000,pose1_to_pose2_press,0.62236136357,0.0100544548193,1.07002896891,0.592932093494,0.0187271885059,1.06969825946
+211,3.516666667,pose1_to_pose2_press,0.622436339028,0.0100543741302,1.07002923245,0.593007070489,0.0187271127127,1.06969851489
+212,3.533333333,pose1_to_pose2_press,0.622499249023,0.0100544833877,1.07002889401,0.593069980306,0.0187272215435,1.0696981855
+213,3.550000000,pose1_to_pose2_press,0.622551322041,0.0100545346081,1.07002888475,0.593122050362,0.0187272630232,1.0696981845
+214,3.566666667,pose1_to_pose2_press,0.622592467711,0.0100545050627,1.07002921464,0.593163196169,0.0187272340793,1.06969851345
+215,3.583333333,pose1_to_pose2_press,0.622625018989,0.0100546056655,1.07002914292,0.593195747586,0.0187273351413,1.06969843738
+216,3.600000000,pose1_to_pose2_press,0.622650000884,0.0100546532477,1.07002888444,0.593220727897,0.018727377273,1.06969817602
+217,3.616666667,pose1_to_pose2_press,0.622669876117,0.0100546739172,1.07002900048,0.59324060291,0.0187273972976,1.06969828937
+218,3.633333333,pose1_to_pose2_press,0.62268528618,0.0100546199914,1.07002900852,0.593256013577,0.0187273455297,1.06969829914
+219,3.650000000,pose1_to_pose2_press,0.622696557691,0.010054511719,1.07002878636,0.593267285793,0.0187272396156,1.06969808107
+220,3.666666667,pose1_to_pose2_press,0.622704757043,0.0100544628454,1.07002899387,0.593275486339,0.0187271946032,1.06969828256
+221,3.683333333,pose1_to_pose2_press,0.622710106448,0.0100544292342,1.07002917087,0.593280836308,0.0187271628027,1.06969845547
+222,3.700000000,pose1_to_pose2_press,0.622713387091,0.0100544082116,1.07002928931,0.593284117245,0.0187271427221,1.06969857136
+223,3.716666667,pose1_to_pose2_press,0.622714938885,0.0100544476298,1.07002924524,0.593285668806,0.0187271814679,1.06969853127
+224,3.733333333,pose1_to_pose2_press,0.62271613122,0.0100544853509,1.07002919631,0.593286860907,0.018727218504,1.06969848619
+225,3.750000000,pose1_to_pose2_press,0.622716882356,0.0100545091141,1.07002916549,0.593287611894,0.0187272418356,1.06969845778
+226,3.766666667,pose1_to_pose2_press,0.622717107303,0.0100545162306,1.07002915626,0.593287836797,0.0187272488228,1.06969844927
+227,3.783333333,pose1_to_pose2_press,0.622717582421,0.0100545312616,1.07002913676,0.593288311822,0.0187272635808,1.06969843131
+228,3.800000000,pose1_to_pose2_press,0.622718511232,0.0100545292189,1.07002911824,0.593289240704,0.0187272617879,1.06969841325
+229,3.816666667,pose1_to_pose2_press,0.622719085314,0.0100544943429,1.07002912775,0.593289815102,0.0187272279041,1.06969842035
+230,3.833333333,pose1_to_pose2_press,0.62271938699,0.0100544760158,1.07002913275,0.593290116944,0.0187272100984,1.06969842408
+231,3.850000000,pose1_to_pose2_press,0.622719696788,0.0100544571953,1.07002913789,0.593290426912,0.0187271918134,1.06969842791
+232,3.866666667,pose1_to_pose2_press,0.622719776902,0.0100544523283,1.07002913921,0.59329050707,0.0187271870849,1.0696984289
+233,3.883333333,pose1_to_pose2_press,0.622720058287,0.0100544352339,1.07002914388,0.59329078861,0.0187271704768,1.06969843238
+234,3.900000000,pose1_to_pose2_press,0.622720128286,0.0100544309815,1.07002914504,0.593290858647,0.0187271663453,1.06969843324
+235,3.916666667,pose1_to_pose2_press,0.622720212495,0.0100544258657,1.07002914643,0.593290942902,0.0187271613751,1.06969843428
+236,3.933333333,pose1_to_pose2_press,0.622720355659,0.0100544171683,1.0700291488,0.593291086145,0.0187271529252,1.06969843605
+237,3.950000000,pose1_to_pose2_press,0.622720528201,0.0100544066863,1.07002915166,0.593291258782,0.0187271427413,1.06969843819
+238,3.966666667,pose1_to_pose2_press,0.622720645363,0.0100543995686,1.0700291536,0.593291376008,0.0187271358262,1.06969843963
+239,3.983333333,pose1_to_pose2_press,0.622720924843,0.0100543879861,1.07002913523,0.593291655503,0.0187271242909,1.06969842099
+240,4.000000000,pose1_to_pose2_press,0.622721447805,0.0100543837643,1.07002902643,0.593292178049,0.0187271187481,1.06969831466
+241,4.016666667,pose1_to_pose2_press,0.622721807913,0.0100543808572,1.07002895152,0.593292537869,0.0187271149314,1.06969824144
+242,4.033333333,pose1_to_pose2_press,0.622721993062,0.0100543793625,1.070028913,0.593292722871,0.018727112969,1.06969820379
+243,4.050000000,pose1_to_pose2_press,0.622722011786,0.0100543792114,1.0700289091,0.59329274158,0.0187271127706,1.06969819998
+244,4.066666667,pose1_to_pose2_press,0.622722158941,0.010054384621,1.07002892058,0.593292889024,0.0187271192303,1.06969821325
+245,4.083333333,pose1_to_pose2_press,0.622722334781,0.0100543970229,1.07002897218,0.593293065578,0.0187271341664,1.06969826798
+246,4.100000000,pose1_to_pose2_press,0.622722458705,0.0100544944208,1.070028751,0.593293187928,0.0187272264409,1.06969805256
+247,4.116666667,pose1_to_pose2_press,0.622722493392,0.010054549693,1.07002860772,0.59329322152,0.0187272780936,1.06969791204
+248,4.133333333,pose2_hold,0.622722493392,0.010054549693,1.07002860772,0.593293221525,0.0187272780956,1.06969791204
+249,4.150000000,pose2_hold,0.622722493392,0.010054549693,1.07002860772,0.593293221525,0.0187272780964,1.06969791204
+250,4.166666667,pose2_hold,0.622722493392,0.010054549693,1.07002860772,0.593293221525,0.0187272780964,1.06969791204
+251,4.183333333,pose2_hold,0.622722493392,0.010054549693,1.07002860772,0.593293221525,0.0187272780965,1.06969791204
+252,4.200000000,pose2_hold,0.622722493392,0.010054549693,1.07002860772,0.593293221525,0.0187272780966,1.06969791204
+253,4.216666667,pose2_hold,0.622722493392,0.010054549693,1.07002860772,0.593293221525,0.0187272780963,1.06969791204
+254,4.233333333,pose2_hold,0.622722493392,0.010054549693,1.07002860772,0.593293221525,0.0187272780968,1.06969791204
+255,4.250000000,pose2_hold,0.622722493392,0.010054549693,1.07002860772,0.593293221525,0.0187272780966,1.06969791204
+256,4.266666667,pose2_hold,0.622722493392,0.010054549693,1.07002860772,0.593293221525,0.0187272780965,1.06969791204
+257,4.283333333,pose2_hold,0.622722493392,0.010054549693,1.07002860772,0.593293221524,0.018727278098,1.06969791204
+258,4.300000000,pose2_hold,0.622722493392,0.010054549693,1.07002860772,0.593293221525,0.0187272780966,1.06969791204
+259,4.316666667,pose2_hold,0.622722493392,0.010054549693,1.07002860772,0.593293221526,0.0187272780961,1.06969791204
+260,4.333333333,pose2_hold,0.622722493392,0.010054549693,1.07002860772,0.593293221525,0.0187272780968,1.06969791204
+261,4.350000000,pose2_hold,0.622722493392,0.010054549693,1.07002860772,0.593293221526,0.0187272780963,1.06969791204
+262,4.366666667,pose2_hold,0.622722493392,0.010054549693,1.07002860772,0.593293221526,0.0187272780964,1.06969791204
+263,4.383333333,pose2_hold,0.622722493392,0.010054549693,1.07002860772,0.593293221525,0.0187272780975,1.06969791204
+264,4.400000000,pose2_hold,0.622722493392,0.010054549693,1.07002860772,0.593293221525,0.0187272780975,1.06969791204
+265,4.416666667,pose2_hold,0.622722493392,0.010054549693,1.07002860772,0.593293221525,0.0187272780975,1.06969791204
+266,4.433333333,pose2_to_pose3_retreat,0.622722493392,0.010054549693,1.07002860772,0.593293221525,0.0187272780979,1.06969791204
+267,4.450000000,pose2_to_pose3_retreat,0.622722425812,0.0100545376054,1.07002901867,0.593293154967,0.018727269229,1.06969831648
+268,4.466666667,pose2_to_pose3_retreat,0.622722184867,0.0100544218966,1.0700291937,0.593292915246,0.0187271576067,1.06969848975
+269,4.483333333,pose2_to_pose3_retreat,0.622721653185,0.0100544114089,1.07002918673,0.593292383967,0.0187271483664,1.06969848002
+270,4.500000000,pose2_to_pose3_retreat,0.622721330587,0.0100544211562,1.07002915662,0.593292061461,0.0187271583593,1.06969844832
+271,4.516666667,pose2_to_pose3_retreat,0.622721223528,0.010054424391,1.07002914663,0.593291954433,0.0187271616756,1.0696984378
+272,4.533333333,pose2_to_pose3_retreat,0.622719422914,0.0100544631707,1.07002930197,0.593290153864,0.0187272005874,1.06969859186
+273,4.550000000,pose2_to_pose3_retreat,0.622714306081,0.0100546565812,1.07002905459,0.593285033666,0.0187273825348,1.06969834366
+274,4.566666667,pose2_to_pose3_retreat,0.622703167039,0.0100545496071,1.07002927243,0.593273895138,0.018727276979,1.06969855266
+275,4.583333333,pose2_to_pose3_retreat,0.622682685921,0.0100545334483,1.07002907024,0.593253413269,0.0187272585056,1.06969835635
+276,4.600000000,pose2_to_pose3_retreat,0.622650934577,0.0100545533045,1.07002902087,0.59322166327,0.0187272829818,1.06969831411
+277,4.616666667,pose2_to_pose3_retreat,0.622607166111,0.0100544976316,1.07002913924,0.593177896944,0.0187272344834,1.06969842814
+278,4.633333333,pose2_to_pose3_retreat,0.622552460093,0.0100545651708,1.07002921272,0.593123190357,0.0187273000246,1.06969850299
+279,4.650000000,pose2_to_pose3_retreat,0.622487847692,0.0100546117068,1.07002906931,0.593058575186,0.0187273376063,1.06969836595
+280,4.666666667,pose2_to_pose3_retreat,0.622414271785,0.0100545427461,1.07002899765,0.592985000855,0.0187272737709,1.06969829231
+281,4.683333333,pose2_to_pose3_retreat,0.622330510922,0.0100545406607,1.07002917942,0.592901240454,0.0187272729782,1.06969847233
+282,4.700000000,pose2_to_pose3_retreat,0.622234366883,0.0100545011363,1.07002928794,0.592805095676,0.0187272305194,1.0696985721
+283,4.716666667,pose2_to_pose3_retreat,0.622124124578,0.0100546372914,1.07002904044,0.592694851431,0.0187273602132,1.06969833094
+284,4.733333333,pose2_to_pose3_retreat,0.621993270171,0.0100545807735,1.07002902248,0.592563997967,0.0187273068165,1.06969831505
+285,4.750000000,pose2_to_pose3_retreat,0.621842479408,0.0100544022978,1.07002923265,0.59241321063,0.0187271394725,1.06969851625
+286,4.766666667,pose2_to_pose3_retreat,0.621670377103,0.0100545213352,1.0700292004,0.592241107665,0.0187272562868,1.0696984882
+287,4.783333333,pose2_to_pose3_retreat,0.621475836385,0.0100545419203,1.07002905028,0.592046565544,0.0187272722215,1.06969834594
+288,4.800000000,pose2_to_pose3_retreat,0.621256474883,0.0100545597301,1.07002899936,0.591827203441,0.0187272877307,1.06969829444
+289,4.816666667,pose2_to_pose3_retreat,0.621014232606,0.0100546895165,1.07002908347,0.591584960221,0.0187274139332,1.06969837339
+290,4.833333333,pose2_to_pose3_retreat,0.620749139301,0.0100546556049,1.0700292257,0.59131986842,0.0187273847029,1.06969851082
+291,4.850000000,pose2_to_pose3_retreat,0.620458301074,0.0100545312426,1.07002920167,0.591029032344,0.0187272674572,1.06969848973
+292,4.866666667,pose2_to_pose3_retreat,0.620144241803,0.0100545120573,1.07002921153,0.59071497198,0.0187272443346,1.06969850041
+293,4.883333333,pose2_to_pose3_retreat,0.619806553774,0.0100545144488,1.07002919822,0.590377283525,0.0187272449969,1.06969848655
+294,4.900000000,pose2_to_pose3_retreat,0.619443687768,0.0100545504643,1.07002915387,0.590014417665,0.0187272811625,1.06969844176
+295,4.916666667,pose2_to_pose3_retreat,0.619054092814,0.0100546366191,1.07002916093,0.589624822789,0.0187273672344,1.06969844769
+296,4.933333333,pose2_to_pose3_retreat,0.618639945963,0.0100546479174,1.0700292169,0.589210676877,0.0187273815307,1.06969850474
+297,4.950000000,pose2_to_pose3_retreat,0.618202223334,0.0100545326294,1.07002921961,0.588772954425,0.0187272665991,1.06969850783
+298,4.966666667,pose2_to_pose3_retreat,0.617739329703,0.0100544968572,1.07002922358,0.58831005931,0.018727225308,1.06969850828
+299,4.983333333,pose2_to_pose3_retreat,0.617252811876,0.0100545502817,1.07002914126,0.587823540496,0.0187272749523,1.06969842376
+300,5.000000000,pose2_to_pose3_retreat,0.616740473357,0.0100545072408,1.07002903532,0.587311203489,0.0187272369993,1.06969832491
+301,5.016666667,pose2_to_pose3_retreat,0.616188094299,0.010054487114,1.07002913571,0.586758825618,0.0187272208765,1.06969843339
+302,5.033333333,pose2_to_pose3_retreat,0.61559462001,0.0100545070636,1.0700290454,0.586165351651,0.0187272414736,1.06969834096
+303,5.050000000,pose2_to_pose3_retreat,0.614978508858,0.0100545372532,1.07002908447,0.585549240395,0.0187272708565,1.06969837681
+304,5.066666667,pose2_to_pose3_retreat,0.614344920832,0.010054527705,1.0700290662,0.584915651485,0.0187272579953,1.06969835725
+305,5.083333333,pose2_to_pose3_retreat,0.613697979498,0.0100545783972,1.07002914064,0.584268709945,0.0187273076849,1.06969843132
+306,5.100000000,pose2_to_pose3_retreat,0.613049673321,0.0100545488638,1.07002908195,0.583620404253,0.0187272800866,1.06969837568
+307,5.116666667,pose2_to_pose3_retreat,0.612398439675,0.0100544401935,1.07002900695,0.582969173221,0.0187271811559,1.06969830589
+308,5.133333333,pose2_to_pose3_retreat,0.611708505266,0.0100545067109,1.07002903543,0.582279236991,0.0187272414536,1.0696983333
+309,5.150000000,pose2_to_pose3_retreat,0.610978442313,0.0100544219001,1.07002881828,0.58154917418,0.0187271571811,1.06969811726
+310,5.166666667,pose2_to_pose3_retreat,0.610209008403,0.0100544458397,1.07002921551,0.58077974086,0.0187271830547,1.06969851264
+311,5.183333333,pose2_to_pose3_retreat,0.609400538401,0.0100545908095,1.07002916703,0.579971269172,0.0187273218433,1.06969845178
+312,5.200000000,pose2_to_pose3_retreat,0.608549200789,0.0100546146461,1.07002913517,0.579119931323,0.0187273451828,1.06969842815
+313,5.216666667,pose2_to_pose3_retreat,0.607685173491,0.0100545796505,1.07002921713,0.578255903679,0.0187273087852,1.06969850475
+314,5.233333333,pose2_to_pose3_retreat,0.606813195031,0.0100545587652,1.07002936206,0.577383925333,0.0187272882513,1.06969864813
+315,5.250000000,pose2_to_pose3_retreat,0.60594195804,0.0100545147954,1.07002913343,0.576512689258,0.018727247611,1.06969842634
+316,5.266666667,pose2_to_pose3_retreat,0.605074202441,0.0100544766176,1.07002905164,0.575644935028,0.0187272139846,1.06969834252
+317,5.283333333,pose2_to_pose3_retreat,0.604208529529,0.010054467814,1.07002939797,0.574779262662,0.0187272068553,1.06969868296
+318,5.300000000,pose2_to_pose3_retreat,0.603333955751,0.0100545673819,1.07002935368,0.573904685947,0.0187272966194,1.06969864202
+319,5.316666667,pose2_to_pose3_retreat,0.602444431926,0.0100545880092,1.0700292336,0.573015161824,0.0187273163888,1.06969852373
+320,5.333333333,pose2_to_pose3_retreat,0.601527102985,0.0100545466823,1.07002906699,0.572097831889,0.0187272717075,1.06969835835
+321,5.350000000,pose2_to_pose3_retreat,0.600586347014,0.0100545049755,1.0700289775,0.571157076943,0.0187272334233,1.06969826799
+322,5.366666667,pose2_to_pose3_retreat,0.599638904076,0.0100545519577,1.07002914245,0.570209634867,0.0187272833682,1.06969843356
+323,5.383333333,pose2_to_pose3_retreat,0.59870038591,0.0100545044809,1.07002906805,0.569271117723,0.0187272395313,1.06969836381
+324,5.400000000,pose2_to_pose3_retreat,0.597791925773,0.0100544980497,1.07002910386,0.568362658336,0.0187272355738,1.06969839684
+325,5.416666667,pose2_to_pose3_retreat,0.596906091282,0.0100545184337,1.07002926908,0.567476823127,0.0187272533068,1.06969855782
+326,5.433333333,pose2_to_pose3_retreat,0.596036992819,0.0100546560731,1.07002921326,0.566607721615,0.0187273806643,1.06969850544
+327,5.450000000,pose2_to_pose3_retreat,0.595166160119,0.0100545796844,1.07002912387,0.565736891012,0.0187273114284,1.06969841626
+328,5.466666667,pose2_to_pose3_retreat,0.594284836245,0.010054472613,1.07002905068,0.564855569274,0.01872721168,1.06969834498
+329,5.483333333,pose2_to_pose3_retreat,0.593386167896,0.0100546103376,1.07002892723,0.563956897417,0.0187273374967,1.06969822148
+330,5.500000000,pose2_to_pose3_retreat,0.592485651383,0.0100545579525,1.07002898584,0.563056381098,0.0187272859011,1.06969828367
+331,5.516666667,pose2_to_pose3_retreat,0.591592070997,0.0100545060271,1.07002901921,0.562162802224,0.0187272388229,1.06969830988
+332,5.533333333,pose2_to_pose3_retreat,0.590730272687,0.0100546318966,1.07002912247,0.561301001706,0.0187273571841,1.06969841242
+333,5.550000000,pose2_to_pose3_retreat,0.589901367365,0.0100546060527,1.07002929922,0.560472097176,0.0187273337457,1.06969858173
+334,5.566666667,pose2_to_pose3_retreat,0.589099514708,0.0100546675622,1.07002921044,0.559670243885,0.0187273934637,1.06969850225
+335,5.583333333,pose2_to_pose3_retreat,0.588320025292,0.0100545794818,1.07002912286,0.558890755371,0.018727308558,1.06969841732
+336,5.600000000,pose2_to_pose3_retreat,0.587556101812,0.0100545462525,1.07002920465,0.558126832543,0.0187272772311,1.06969849091
+337,5.616666667,pose2_to_pose3_retreat,0.586804830833,0.0100545453112,1.07002918118,0.55737556094,0.0187272742532,1.069698469
+338,5.633333333,pose2_to_pose3_retreat,0.586068358085,0.0100545892822,1.07002912274,0.556639088059,0.0187273178229,1.06969841084
+339,5.650000000,pose2_to_pose3_retreat,0.585358366473,0.0100547214905,1.07002928864,0.555929094842,0.018727444335,1.06969857068
+340,5.666666667,pose2_to_pose3_retreat,0.584677311617,0.010054687381,1.07002925063,0.55524804123,0.0187274144117,1.06969853276
+341,5.683333333,pose2_to_pose3_retreat,0.584024940132,0.0100545319295,1.07002930046,0.554595670959,0.0187272632364,1.06969858656
+342,5.700000000,pose2_to_pose3_retreat,0.583394146716,0.0100545578739,1.07002934279,0.553964876038,0.0187272840818,1.06969862902
+343,5.716666667,pose2_to_pose3_retreat,0.582782449576,0.010054642117,1.07002903389,0.553353178356,0.0187273665261,1.06969832115
+344,5.733333333,pose2_to_pose3_retreat,0.582188661675,0.0100546468217,1.07002908558,0.552759390619,0.0187273717525,1.06969837192
+345,5.750000000,pose2_to_pose3_retreat,0.581617339314,0.0100545453597,1.07002907366,0.55218806992,0.0187272761619,1.06969836629
+346,5.766666667,pose2_to_pose3_retreat,0.581085789495,0.0100544885607,1.07002902754,0.551656520751,0.0187272213859,1.06969831553
+347,5.783333333,pose2_to_pose3_retreat,0.580592621569,0.0100545495344,1.07002908103,0.551163352851,0.0187272824838,1.06969836952
+348,5.800000000,pose2_to_pose3_retreat,0.5801378151,0.0100546020756,1.07002913674,0.550708545107,0.0187273308058,1.0696984279
+349,5.816666667,pose2_to_pose3_retreat,0.579708507551,0.0100546000807,1.07002921415,0.550279237165,0.0187273271766,1.06969849743
+350,5.833333333,pose2_to_pose3_retreat,0.579301099897,0.0100545374172,1.07002932553,0.549871831264,0.0187272704997,1.06969861002
+351,5.850000000,pose2_to_pose3_retreat,0.578912115893,0.0100545614781,1.07002934375,0.549482846777,0.0187272930587,1.06969863212
+352,5.866666667,pose2_to_pose3_retreat,0.578543514908,0.0100544910082,1.07002918332,0.549114246356,0.0187272244691,1.06969847069
+353,5.883333333,pose2_to_pose3_retreat,0.578202314883,0.0100546083778,1.07002908137,0.548773044551,0.0187273358105,1.06969836896
+354,5.900000000,pose2_to_pose3_retreat,0.577889524091,0.0100546329727,1.07002919851,0.548460253915,0.0187273610195,1.06969848818
+355,5.916666667,pose2_to_pose3_retreat,0.577608870122,0.0100547070208,1.07002918873,0.548179598405,0.0187274297053,1.06969847511
+356,5.933333333,pose2_to_pose3_retreat,0.577355237031,0.010054695177,1.07002907727,0.547925964989,0.0187274167775,1.06969836413
+357,5.950000000,pose2_to_pose3_retreat,0.577127958944,0.0100545648728,1.07002924512,0.547698689216,0.0187272942645,1.06969853021
+358,5.966666667,pose2_to_pose3_retreat,0.576923946332,0.0100545864622,1.07002933312,0.547494676626,0.018727316003,1.06969862011
+359,5.983333333,pose2_to_pose3_retreat,0.57674134483,0.0100546577479,1.07002914462,0.547312073858,0.0187273831882,1.06969843673
+360,6.000000000,pose2_to_pose3_retreat,0.576578467637,0.0100546633517,1.07002920799,0.547149197839,0.0187273927889,1.06969850033
+361,6.016666667,pose2_to_pose3_retreat,0.576432853735,0.0100546146305,1.0700294904,0.547003583609,0.0187273425801,1.06969877303
+362,6.033333333,pose2_to_pose3_retreat,0.576304474892,0.0100545608799,1.07002918935,0.546875203705,0.0187272851671,1.06969847034
+363,6.050000000,pose2_to_pose3_retreat,0.576190076389,0.0100546310723,1.07002924222,0.546760804681,0.0187273538148,1.06969852931
+364,6.066666667,pose2_to_pose3_retreat,0.57608923618,0.010054676284,1.07002888293,0.5466599657,0.0187274036338,1.06969818405
+365,6.083333333,pose2_to_pose3_retreat,0.576003894335,0.0100546140947,1.07002914062,0.546574623733,0.0187273406505,1.06969843134
+366,6.100000000,pose2_to_pose3_retreat,0.575932969051,0.0100546374882,1.0700291401,0.546503699574,0.018727367923,1.06969843089
+367,6.116666667,pose2_to_pose3_retreat,0.575876495019,0.0100545483315,1.07002916027,0.546447226247,0.0187272809553,1.06969844673
+368,6.133333333,pose2_to_pose3_retreat,0.575831866423,0.0100545599056,1.07002913545,0.54640259718,0.018727291093,1.06969842513
+369,6.150000000,pose2_to_pose3_retreat,0.575798452192,0.0100545846692,1.07002900362,0.546369183352,0.0187273173498,1.06969829843
+370,6.166666667,pose2_to_pose3_retreat,0.575772104194,0.0100545874666,1.07002912191,0.546342835893,0.0187273219584,1.06969841521
+371,6.183333333,pose2_to_pose3_retreat,0.575752285934,0.0100546339563,1.07002914942,0.546323015376,0.0187273606694,1.06969843859
+372,6.200000000,pose2_to_pose3_retreat,0.575737749001,0.010054568664,1.07002921806,0.546308479594,0.0187272993493,1.06969850888
+373,6.216666667,pose2_to_pose3_retreat,0.575727900855,0.0100545991081,1.0700292522,0.546298630818,0.0187273277151,1.06969854468
+374,6.233333333,pose2_to_pose3_retreat,0.575722370225,0.0100546727926,1.0700292578,0.546293098595,0.0187273959901,1.06969855016
+375,6.250000000,pose2_to_pose3_retreat,0.575719194112,0.0100546877174,1.07002929404,0.546289922204,0.0187274096138,1.06969857708
+376,6.266666667,pose2_to_pose3_retreat,0.575717634271,0.0100546950472,1.07002931184,0.546288362226,0.0187274163046,1.06969859029
+377,6.283333333,pose2_to_pose3_retreat,0.575716693874,0.0100546994662,1.07002932257,0.546287421747,0.0187274203383,1.06969859826
+378,6.300000000,pose2_to_pose3_retreat,0.575716137776,0.0100547020793,1.07002932892,0.5462868656,0.0187274227237,1.06969860297
+379,6.316666667,pose2_to_pose3_retreat,0.575715693348,0.0100547038956,1.07002930251,0.54628642125,0.0187274248549,1.06969857786
+380,6.333333333,pose2_to_pose3_retreat,0.575715512686,0.010054704603,1.07002928819,0.546286240632,0.0187274257468,1.06969856438
+381,6.350000000,pose2_to_pose3_retreat,0.575715405411,0.0100547050231,1.07002927969,0.546286133385,0.0187274262763,1.06969855637
+382,6.366666667,pose2_to_pose3_retreat,0.575715253792,0.0100547056168,1.07002926768,0.546285981803,0.0187274270249,1.06969854505
+383,6.383333333,pose2_to_pose3_retreat,0.575715119297,0.0100547061434,1.07002925702,0.546285847342,0.0187274276888,1.069698535
+384,6.400000000,pose2_to_pose3_retreat,0.575714832027,0.0100547072682,1.07002923426,0.546285560143,0.018727429107,1.06969851355
+385,6.416666667,pose2_to_pose3_retreat,0.575714404502,0.0100547089423,1.07002920039,0.546285132726,0.0187274312176,1.06969848163
+386,6.433333333,pose2_to_pose3_retreat,0.575714263867,0.0100547094929,1.07002918924,0.546284992125,0.0187274319119,1.06969847113
+387,6.450000000,pose2_to_pose3_retreat,0.575714170439,0.0100547098588,1.07002918184,0.546284898721,0.0187274323732,1.06969846416
+388,6.466666667,pose2_to_pose3_retreat,0.575714037418,0.0100547103796,1.0700291713,0.546284765734,0.0187274330299,1.06969845422
+389,6.483333333,pose2_to_pose3_retreat,0.575713897007,0.0100547109294,1.07002916017,0.546284625357,0.018727433723,1.06969844374
+390,6.500000000,pose2_to_pose3_retreat,0.575713723045,0.0100547116106,1.07002914639,0.546284451439,0.0187274345818,1.06969843075
+391,6.516666667,pose2_to_pose3_retreat,0.575713365553,0.0100547130104,1.07002911807,0.546284094036,0.0187274363467,1.06969840406
+392,6.533333333,pose2_to_pose3_retreat,0.57571282142,0.010054715141,1.07002907495,0.546283550038,0.018727439033,1.06969836343
+393,6.550000000,pose2_to_pose3_retreat,0.575712381105,0.0100547168651,1.07002904006,0.546283109833,0.0187274412067,1.06969833055
+394,6.566666667,pose2_to_pose3_retreat,0.575712120266,0.0100547137172,1.07002902623,0.546282849101,0.0187274384514,1.06969831755
+395,6.583333333,pose2_to_pose3_retreat,0.575712102145,0.0100547120421,1.07002902765,0.546282831002,0.0187274368476,1.06969831891
+396,6.600000000,pose2_to_pose3_retreat,0.575711855491,0.0100546892405,1.07002904705,0.546282584644,0.0187274150176,1.06969833739
+397,6.616666667,pose2_to_pose3_retreat,0.575711427395,0.0100546496659,1.07002908072,0.546282157063,0.0187273771292,1.06969836946
+398,6.633333333,pose2_to_pose3_retreat,0.575710870886,0.0100545982203,1.07002912449,0.546281601223,0.0187273278755,1.06969841116
+399,6.650000000,pose2_to_pose3_retreat,0.575710617351,0.0100545747826,1.07002914443,0.546281347993,0.0187273054365,1.06969843015
+400,6.666666667,pose2_to_pose3_retreat,0.575710267938,0.0100545433976,1.07002916731,0.546280998979,0.0187272753667,1.06969845203
+401,6.683333333,pose2_to_pose3_retreat,0.575709912372,0.0100545314241,1.07002909021,0.546280643353,0.0187272633994,1.0696983804
+402,6.700000000,pose2_to_pose3_retreat,0.575709496167,0.0100545174087,1.07002899997,0.54628022708,0.0187272493913,1.06969829655
+403,6.716666667,pose2_to_pose3_retreat,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147

Part2/Obstacle_avoidance/cylinder_15A_10/position_01/depth_01/fem_node.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fcc4138ffa81ff28d83d0f42d82244c224305d0943e06bd1feab2cafc6a7665e
+size 25702331

Part2/Obstacle_avoidance/cylinder_15A_10/position_01/depth_01/simulation_data.csv

@@ -0,0 +1,407 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+1,0.016666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+2,0.033333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+3,0.050000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+4,0.066666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+5,0.083333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+6,0.100000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+7,0.116666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+8,0.133333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+9,0.150000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+10,0.166666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+11,0.183333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+12,0.200000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+13,0.216666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+14,0.233333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+15,0.250000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+16,0.266666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+17,0.283333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+18,0.300000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+19,0.316666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+20,0.333333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+21,0.350000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+22,0.366666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+23,0.383333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+24,0.400000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+25,0.416666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+26,0.433333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+27,0.450000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+28,0.466666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+29,0.483333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+30,0.500000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+31,0.516666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+32,0.533333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+33,0.550000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+34,0.566666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+35,0.583333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+36,0.600000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+37,0.616666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+38,0.633333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+39,0.650000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+40,0.666666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+41,0.683333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+42,0.700000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+43,0.716666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+44,0.733333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+45,0.750000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+46,0.766666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+47,0.783333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+48,0.800000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+49,0.816666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+50,0.833333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+51,0.850000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+52,0.866666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+53,0.883333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+54,0.900000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+55,0.916666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+56,0.933333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+57,0.950000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+58,0.966666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+59,0.983333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+60,1.000000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+61,1.016666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+62,1.033333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+63,1.050000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+64,1.066666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+65,1.083333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+66,1.100000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+67,1.116666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+68,1.133333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+69,1.150000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+70,1.166666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+71,1.183333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+72,1.200000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+73,1.216666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+74,1.233333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+75,1.250000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+76,1.266666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+77,1.283333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+78,1.300000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+79,1.316666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+80,1.333333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+81,1.350000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+82,1.366666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+83,1.383333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+84,1.400000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+85,1.416666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+86,1.433333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+87,1.450000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+88,1.466666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+89,1.483333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+90,1.500000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+91,1.516666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+92,1.533333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+93,1.550000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+94,1.566666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+95,1.583333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+96,1.600000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+97,1.616666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+98,1.633333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+99,1.650000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+100,1.666666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+101,1.683333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+102,1.700000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+103,1.716666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+104,1.733333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+105,1.750000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+106,1.766666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+107,1.783333333,pose1_to_pose2_press,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+108,1.800000000,pose1_to_pose2_press,0.575666876325,0.000181726408885,1.05002045332,0.546238025211,0.00885596816288,1.04969216092
+109,1.816666667,pose1_to_pose2_press,0.575667051725,0.000181744686941,1.05002057088,0.546238199883,0.00885598361584,1.04969226904
+110,1.833333333,pose1_to_pose2_press,0.575667142942,0.000181737112204,1.0500205553,0.546238290952,0.00885597565762,1.04969225663
+111,1.850000000,pose1_to_pose2_press,0.57566747283,0.00018170971803,1.05002049894,0.546238620303,0.00885594687657,1.04969221177
+112,1.866666667,pose1_to_pose2_press,0.575668337586,0.000181770814645,1.05002054684,0.546239484397,0.00885600533142,1.04969224916
+113,1.883333333,pose1_to_pose2_press,0.575669907646,0.000181728675788,1.05002051647,0.546241055807,0.00885596766225,1.04969221592
+114,1.900000000,pose1_to_pose2_press,0.57567337635,0.00018168830628,1.05002046609,0.546244525919,0.0088559321949,1.0496921689
+115,1.916666667,pose1_to_pose2_press,0.57568045976,0.000181829413035,1.05002045777,0.546251606845,0.00885606479628,1.04969215856
+116,1.933333333,pose1_to_pose2_press,0.57569207358,0.000181765571018,1.05002050849,0.546263221154,0.00885600267896,1.049692211
+117,1.950000000,pose1_to_pose2_press,0.575708666038,0.000181832715009,1.05002059667,0.546279813347,0.00885606893453,1.04969229918
+118,1.966666667,pose1_to_pose2_press,0.57573143473,0.000181770755978,1.05002032333,0.54630258262,0.00885600945633,1.04969203928
+119,1.983333333,pose1_to_pose2_press,0.575760611746,0.000181740556022,1.05002043383,0.546331760533,0.0088559821525,1.04969214583
+120,2.000000000,pose1_to_pose2_press,0.575797243326,0.00018177256066,1.05002052194,0.546368391961,0.00885601359141,1.0496922326
+121,2.016666667,pose1_to_pose2_press,0.57584259204,0.000181681102969,1.05002045372,0.546413740998,0.008855923111,1.04969216102
+122,2.033333333,pose1_to_pose2_press,0.575898493839,0.000181738353149,1.05002056559,0.546469643046,0.00885598113235,1.04969227099
+123,2.050000000,pose1_to_pose2_press,0.575966093615,0.000181829453929,1.05002066094,0.546537240677,0.00885606493453,1.04969236568
+124,2.066666667,pose1_to_pose2_press,0.576045426614,0.000181766466366,1.05002066692,0.546616574372,0.00885600427957,1.04969237081
+125,2.083333333,pose1_to_pose2_press,0.576137815569,0.000181728701391,1.05002059844,0.546708963937,0.00885596860672,1.04969230284
+126,2.100000000,pose1_to_pose2_press,0.576242354608,0.00018180433102,1.05002042046,0.546813501601,0.00885603961335,1.04969212595
+127,2.116666667,pose1_to_pose2_press,0.576359811045,0.000181797314648,1.05002042279,0.546930958299,0.00885603331045,1.04969212387
+128,2.133333333,pose1_to_pose2_press,0.576490842616,0.000181720080982,1.05002066729,0.54706199122,0.00885596043131,1.0496923623
+129,2.150000000,pose1_to_pose2_press,0.576636477158,0.000181713836922,1.05002074231,0.547207625935,0.00885595489542,1.0496924405
+130,2.166666667,pose1_to_pose2_press,0.576797767375,0.000181632306523,1.0500205392,0.547368916495,0.00885587479119,1.04969224425
+131,2.183333333,pose1_to_pose2_press,0.576974339639,0.000181556449671,1.05002054375,0.547545490155,0.00885580367112,1.04969224882
+132,2.200000000,pose1_to_pose2_press,0.577167066941,0.000181702297188,1.05002065605,0.54773821437,0.00885593898992,1.04969235953
+133,2.216666667,pose1_to_pose2_press,0.577374873449,0.000181885429704,1.05002053443,0.547946021683,0.0088561251418,1.04969224554
+134,2.233333333,pose1_to_pose2_press,0.577598229065,0.000181793589011,1.05002073292,0.548169376318,0.00885602970003,1.0496924367
+135,2.250000000,pose1_to_pose2_press,0.577836200754,0.000181733002164,1.05002063528,0.548407349633,0.00885597459445,1.04969233809
+136,2.266666667,pose1_to_pose2_press,0.578089158091,0.000181717657168,1.0500205396,0.548660307087,0.00885595973294,1.04969224461
+137,2.283333333,pose1_to_pose2_press,0.578359547148,0.000181741048585,1.05002059172,0.548930695038,0.00885597930392,1.04969229493
+138,2.300000000,pose1_to_pose2_press,0.578648608924,0.000181801824989,1.05002063308,0.549219756324,0.00885603826162,1.04969233207
+139,2.316666667,pose1_to_pose2_press,0.578962892816,0.000181863163272,1.05002043549,0.549534039146,0.00885609619458,1.04969214034
+140,2.333333333,pose1_to_pose2_press,0.579304444442,0.00018184567542,1.05002051438,0.54987559113,0.00885608015172,1.04969222539
+141,2.350000000,pose1_to_pose2_press,0.579676498388,0.000181646249485,1.05002063223,0.550247648039,0.00885589076029,1.04969234264
+142,2.366666667,pose1_to_pose2_press,0.580074004181,0.000181823970778,1.05002044591,0.550645151857,0.00885606164468,1.04969215273
+143,2.383333333,pose1_to_pose2_press,0.580493597878,0.000181740087238,1.05002072797,0.551064747191,0.00885598310009,1.049692429
+144,2.400000000,pose1_to_pose2_press,0.580923744196,0.000181695528879,1.05002064994,0.55149489267,0.00885593546864,1.04969234498
+145,2.416666667,pose1_to_pose2_press,0.581362632066,0.000181700984171,1.05002056983,0.551933779579,0.00885593771811,1.04969226627
+146,2.433333333,pose1_to_pose2_press,0.581812437389,0.000181766155279,1.05002061748,0.552383583995,0.00885599990183,1.04969231627
+147,2.450000000,pose1_to_pose2_press,0.582279961481,0.000181802838639,1.05002062298,0.552851108404,0.00885603782005,1.04969232605
+148,2.466666667,pose1_to_pose2_press,0.582769348536,0.000181796446827,1.05002055006,0.553340496766,0.0088560360697,1.04969225845
+149,2.483333333,pose1_to_pose2_press,0.583283575023,0.000181914628569,1.05002066491,0.553854721484,0.00885614797697,1.04969236618
+150,2.500000000,pose1_to_pose2_press,0.58381698498,0.000181736739296,1.05002054422,0.554388132266,0.00885597301499,1.04969224884
+151,2.516666667,pose1_to_pose2_press,0.584359189424,0.000181833089289,1.05002063023,0.554930336612,0.00885606923346,1.04969234009
+152,2.533333333,pose1_to_pose2_press,0.584909384755,0.000181892598257,1.05002046891,0.555480530012,0.00885612210738,1.04969217664
+153,2.550000000,pose1_to_pose2_press,0.585474745484,0.000181876922425,1.05002040887,0.5560458916,0.00885610938591,1.04969211764
+154,2.566666667,pose1_to_pose2_press,0.58606558063,0.000181752285915,1.05002053716,0.55663672865,0.00885599113823,1.04969224403
+155,2.583333333,pose1_to_pose2_press,0.586686118053,0.000181697903892,1.05002060754,0.557257266725,0.00885593894043,1.04969231365
+156,2.600000000,pose1_to_pose2_press,0.587326778015,0.000181783093095,1.05002056667,0.557897925771,0.00885602105281,1.04969227366
+157,2.616666667,pose1_to_pose2_press,0.587983955433,0.0001817884753,1.05002060975,0.558555102736,0.00885602474941,1.0496923127
+158,2.633333333,pose1_to_pose2_press,0.588655378171,0.000181727233889,1.05002041579,0.559226526993,0.00885596883744,1.04969212354
+159,2.650000000,pose1_to_pose2_press,0.589325634886,0.000181700576921,1.0500205424,0.559896783786,0.00885594234551,1.04969224738
+160,2.666666667,pose1_to_pose2_press,0.589988598203,0.000181714204535,1.05002082323,0.560559746787,0.00885595437812,1.04969251448
+161,2.683333333,pose1_to_pose2_press,0.590656109447,0.000181664373059,1.05002070773,0.561227259513,0.0088559099617,1.0496924093
+162,2.700000000,pose1_to_pose2_press,0.591326565303,0.000181622843786,1.0500207839,0.561897715581,0.00885586889952,1.04969247874
+163,2.716666667,pose1_to_pose2_press,0.592013887856,0.00018160137604,1.05002067751,0.562585037757,0.00885584636015,1.04969237792
+164,2.733333333,pose1_to_pose2_press,0.592722164379,0.000181659244981,1.05002053679,0.563293313015,0.00885590010137,1.04969224148
+165,2.750000000,pose1_to_pose2_press,0.593453682834,0.000181765875789,1.05002056209,0.564024830002,0.00885600154401,1.04969226138
+166,2.766666667,pose1_to_pose2_press,0.594203825563,0.000181788922767,1.0500205048,0.564774972723,0.0088560250743,1.04969221763
+167,2.783333333,pose1_to_pose2_press,0.59496697603,0.000181818141476,1.05002049134,0.565538122576,0.0088560523209,1.04969220714
+168,2.800000000,pose1_to_pose2_press,0.595717496873,0.000181876073515,1.05002050237,0.566288644761,0.00885611470747,1.04969221558
+169,2.816666667,pose1_to_pose2_press,0.59645414602,0.000181831790111,1.0500205201,0.567025292391,0.00885606507349,1.04969222801
+170,2.833333333,pose1_to_pose2_press,0.597171858426,0.0001816801159,1.05002030779,0.567743007197,0.00885592163447,1.04969201816
+171,2.850000000,pose1_to_pose2_press,0.597883898889,0.00018171140449,1.05002033958,0.568455048493,0.00885595593167,1.04969205484
+172,2.866666667,pose1_to_pose2_press,0.598599094451,0.000181774537927,1.05002037773,0.569170242478,0.00885601368419,1.04969209224
+173,2.883333333,pose1_to_pose2_press,0.599321965185,0.000181875242126,1.05002053712,0.569893111249,0.00885610738334,1.04969224256
+174,2.900000000,pose1_to_pose2_press,0.600053836971,0.000181868973643,1.05002069092,0.570624984439,0.00885610565551,1.04969239049
+175,2.916666667,pose1_to_pose2_press,0.600790275595,0.000181779136336,1.05002064387,0.571361424723,0.00885602152429,1.04969234555
+176,2.933333333,pose1_to_pose2_press,0.601521989336,0.000181891999908,1.05002053247,0.572093134204,0.00885611987183,1.04969223253
+177,2.950000000,pose1_to_pose2_press,0.602238422765,0.000181931515199,1.0500204466,0.572809568376,0.00885616200916,1.04969214938
+178,2.966666667,pose1_to_pose2_press,0.602933399112,0.000181885509152,1.05002057091,0.573504545597,0.00885611874219,1.04969226773
+179,2.983333333,pose1_to_pose2_press,0.603604585568,0.000181816614605,1.05002054325,0.574175733311,0.00885605441031,1.0496922479
+180,3.000000000,pose1_to_pose2_press,0.604263566224,0.000181735441069,1.05002055547,0.574834714643,0.0088559754298,1.04969225754
+181,3.016666667,pose1_to_pose2_press,0.604914800775,0.000181773505554,1.0500203655,0.575485948629,0.00885601185816,1.04969207507
+182,3.033333333,pose1_to_pose2_press,0.605573000943,0.000181815409034,1.05002039669,0.576144148551,0.00885605295006,1.04969210697
+183,3.050000000,pose1_to_pose2_press,0.606232699162,0.000181819731928,1.05002040968,0.576803846726,0.0088560571899,1.04969212164
+184,3.066666667,pose1_to_pose2_press,0.606884848282,0.00018185416918,1.0500202897,0.577455995641,0.00885609114448,1.04969200744
+185,3.083333333,pose1_to_pose2_press,0.607519009863,0.000181922236403,1.05002040538,0.578090156971,0.00885615807774,1.04969211573
+186,3.100000000,pose1_to_pose2_press,0.608129935354,0.000181919131559,1.05002045022,0.578701081545,0.00885615160591,1.04969215391
+187,3.116666667,pose1_to_pose2_press,0.608701887613,0.000181818903707,1.05002052591,0.579273035406,0.00885605698891,1.04969223423
+188,3.133333333,pose1_to_pose2_press,0.609245765367,0.00018181501434,1.05002038936,0.57981691243,0.00885605089026,1.04969210487
+189,3.150000000,pose1_to_pose2_press,0.609774011569,0.000181779309838,1.05002040685,0.580345160827,0.00885602237013,1.04969211543
+190,3.166666667,pose1_to_pose2_press,0.610286751124,0.000181760280767,1.05002058044,0.580857900042,0.00885600193492,1.04969228245
+191,3.183333333,pose1_to_pose2_press,0.610781054052,0.000181762239957,1.05002061562,0.581352202365,0.00885600185106,1.04969231792
+192,3.200000000,pose1_to_pose2_press,0.611263760724,0.00018176108901,1.05002062041,0.581834909064,0.0088560008845,1.04969232524
+193,3.216666667,pose1_to_pose2_press,0.611734117404,0.000181721609884,1.05002071453,0.582305265597,0.0088559608461,1.04969241773
+194,3.233333333,pose1_to_pose2_press,0.612187139445,0.000181646837935,1.05002043372,0.58275828741,0.00885588531898,1.0496921373
+195,3.250000000,pose1_to_pose2_press,0.612626250998,0.000181788520499,1.05002049053,0.583197399809,0.00885603029052,1.04969220614
+196,3.266666667,pose1_to_pose2_press,0.613049510632,0.000181775999753,1.05002031656,0.58362065858,0.00885601475723,1.04969202717
+197,3.283333333,pose1_to_pose2_press,0.613449809556,0.000181789728068,1.05002027845,0.584020956072,0.0088560237788,1.04969198912
+198,3.300000000,pose1_to_pose2_press,0.613824121638,0.00018176468867,1.05002043008,0.584395268374,0.00885599955701,1.04969213854
+199,3.316666667,pose1_to_pose2_press,0.614171969425,0.00018172491754,1.05002055322,0.584743117468,0.00885596420568,1.04969225597
+200,3.333333333,pose1_to_pose2_press,0.614498655599,0.000181732790926,1.05002055626,0.585069804589,0.00885597548147,1.04969225808
+201,3.350000000,pose1_to_pose2_press,0.614811864648,0.00018181763556,1.05002053056,0.585383013271,0.00885605960419,1.04969224085
+202,3.366666667,pose1_to_pose2_press,0.615113808044,0.000181844758914,1.0500207056,0.585684956105,0.00885608450198,1.04969240014
+203,3.383333333,pose1_to_pose2_press,0.615404863579,0.000181720430259,1.05002056942,0.585976011655,0.00885596063881,1.04969226948
+204,3.400000000,pose1_to_pose2_press,0.615682698904,0.000181736400031,1.0500206812,0.586253847132,0.00885597711742,1.04969237451
+205,3.416666667,pose1_to_pose2_press,0.615945431017,0.000181717776524,1.05002068965,0.586516579885,0.00885596103742,1.0496923874
+206,3.433333333,pose1_to_pose2_press,0.61618471772,0.000181753913102,1.05002058421,0.586755864542,0.00885599055605,1.04969228706
+207,3.450000000,pose1_to_pose2_press,0.616401959556,0.000181687178635,1.05002059589,0.586973107781,0.00885592900741,1.04969230199
+208,3.466666667,pose1_to_pose2_press,0.616597103654,0.00018178726671,1.05002064815,0.587168251717,0.00885602889893,1.04969235646
+209,3.483333333,pose1_to_pose2_press,0.616772520643,0.000181946226355,1.0500206207,0.587343666331,0.0088561798794,1.04969232737
+210,3.500000000,pose1_to_pose2_press,0.61692809641,0.000181762919552,1.05002059266,0.587499243929,0.0088560027006,1.04969229274
+211,3.516666667,pose1_to_pose2_press,0.617068380196,0.00018168225538,1.05002080234,0.587639528738,0.00885592553475,1.04969249997
+212,3.533333333,pose1_to_pose2_press,0.617194005417,0.000181846067686,1.05002051687,0.587765149815,0.00885607556285,1.04969221553
+213,3.550000000,pose1_to_pose2_press,0.61730663656,0.000181742516242,1.05002048158,0.587877782718,0.00885597837169,1.04969218696
+214,3.566666667,pose1_to_pose2_press,0.6174089464,0.00018171870337,1.05002063955,0.587980093843,0.00885595900819,1.04969234498
+215,3.583333333,pose1_to_pose2_press,0.617501285879,0.000181826461235,1.05002071191,0.588072432239,0.00885606312099,1.04969241608
+216,3.600000000,pose1_to_pose2_press,0.617585198446,0.00018187191659,1.05002051064,0.588156343884,0.00885610580027,1.04969222137
+217,3.616666667,pose1_to_pose2_press,0.617660552409,0.000181743084523,1.05002054776,0.588231699961,0.00885598407377,1.04969225165
+218,3.633333333,pose1_to_pose2_press,0.617725213339,0.000181769860153,1.05002053531,0.588296360417,0.00885600913398,1.04969224074
+219,3.650000000,pose1_to_pose2_press,0.617780207586,0.000181722476205,1.05002056852,0.58835135606,0.00885596615324,1.04969226631
+220,3.666666667,pose1_to_pose2_press,0.617825672226,0.00018164239016,1.05002055733,0.588396820189,0.00885588474166,1.04969225772
+221,3.683333333,pose1_to_pose2_press,0.617862999808,0.000181841672236,1.05002056098,0.588434145183,0.00885607524386,1.04969226148
+222,3.700000000,pose1_to_pose2_press,0.61789219192,0.000181896642108,1.05002062113,0.588463335737,0.00885612524474,1.04969232499
+223,3.716666667,pose1_to_pose2_press,0.617914990376,0.000181811038071,1.05002062267,0.588486136008,0.00885604559874,1.04969232249
+224,3.733333333,pose1_to_pose2_press,0.61793195203,0.000181799803499,1.05002053498,0.588503099201,0.00885603928176,1.04969223159
+225,3.750000000,pose1_to_pose2_press,0.617944087831,0.000181925108817,1.05002043286,0.588515233511,0.00885615983311,1.04969213662
+226,3.766666667,pose1_to_pose2_press,0.617952478582,0.000181957556992,1.05002050543,0.588523624435,0.0088561931265,1.04969221332
+227,3.783333333,pose1_to_pose2_press,0.617958206918,0.000181905245898,1.05002053577,0.588529352925,0.0088561412832,1.04969224261
+228,3.800000000,pose1_to_pose2_press,0.617962183645,0.000181829626466,1.05002054669,0.588533329779,0.00885606593087,1.04969225075
+229,3.816666667,pose1_to_pose2_press,0.617964529856,0.000181863037496,1.05002045222,0.588535675728,0.00885609851195,1.04969215728
+230,3.833333333,pose1_to_pose2_press,0.617966434124,0.000181910832854,1.05002034879,0.588537579694,0.00885614537199,1.04969205538
+231,3.850000000,pose1_to_pose2_press,0.617967897298,0.000181919054544,1.05002035609,0.588539042746,0.0088561531623,1.04969206177
+232,3.866666667,pose1_to_pose2_press,0.617968700025,0.000181885593117,1.05002047568,0.588539845551,0.00885611984696,1.0496921781
+233,3.883333333,pose1_to_pose2_press,0.617969302409,0.000181860482931,1.05002056542,0.588540447993,0.00885609484639,1.04969226539
+234,3.900000000,pose1_to_pose2_press,0.617969984689,0.000181832042308,1.05002066706,0.588541130339,0.00885606652993,1.04969236426
+235,3.916666667,pose1_to_pose2_press,0.617970275007,0.000181837277611,1.05002067267,0.588541420502,0.00885607127534,1.04969237086
+236,3.933333333,pose1_to_pose2_press,0.617970305535,0.000181840352579,1.05002066778,0.588541450987,0.00885607421976,1.04969236638
+237,3.950000000,pose1_to_pose2_press,0.617970514836,0.000181861434358,1.05002063425,0.588541659993,0.00885609440656,1.04969233572
+238,3.966666667,pose1_to_pose2_press,0.617970840112,0.000181894197673,1.05002058214,0.588541984811,0.00885612577897,1.04969228805
+239,3.983333333,pose1_to_pose2_press,0.617971168245,0.000181927248812,1.05002052957,0.588542312482,0.00885615742698,1.04969223998
+240,4.000000000,pose1_to_pose2_press,0.617971477192,0.000181948608369,1.05002050811,0.588542621562,0.00885617927505,1.04969221968
+241,4.016666667,pose1_to_pose2_press,0.617971687459,0.000181954145148,1.05002051936,0.588542832442,0.00885618681319,1.04969222889
+242,4.033333333,pose1_to_pose2_press,0.617971724262,0.000181955114275,1.05002052133,0.588542869353,0.00885618813263,1.0496922305
+243,4.050000000,pose1_to_pose2_press,0.617971822224,0.000181957248656,1.05002052521,0.588542967595,0.00885619118307,1.04969223346
+244,4.066666667,pose1_to_pose2_press,0.617971941663,0.000181843790322,1.05002069254,0.588543087151,0.0088560776757,1.0496923889
+245,4.083333333,pose2_hold,0.617971941663,0.000181843790322,1.05002069254,0.588543087154,0.00885607767505,1.0496923889
+246,4.100000000,pose2_hold,0.617971941663,0.000181843790322,1.05002069254,0.588543087154,0.00885607767546,1.0496923889
+247,4.116666667,pose2_hold,0.617971941663,0.000181843790322,1.05002069254,0.588543087154,0.00885607767546,1.0496923889
+248,4.133333333,pose2_hold,0.617971941663,0.000181843790322,1.05002069254,0.588543087155,0.00885607767546,1.0496923889
+249,4.150000000,pose2_hold,0.617971941663,0.000181843790322,1.05002069254,0.588543087155,0.00885607767544,1.0496923889
+250,4.166666667,pose2_hold,0.617971941663,0.000181843790322,1.05002069254,0.588543087155,0.00885607767543,1.0496923889
+251,4.183333333,pose2_hold,0.617971941663,0.000181843790322,1.05002069254,0.588543087155,0.00885607767507,1.0496923889
+252,4.200000000,pose2_hold,0.617971941663,0.000181843790322,1.05002069254,0.588543087155,0.00885607767537,1.0496923889
+253,4.216666667,pose2_hold,0.617971941663,0.000181843790322,1.05002069254,0.588543087155,0.00885607767547,1.0496923889
+254,4.233333333,pose2_hold,0.617971941663,0.000181843790322,1.05002069254,0.588543087155,0.00885607767549,1.0496923889
+255,4.250000000,pose2_hold,0.617971941663,0.000181843790322,1.05002069254,0.588543087155,0.00885607767539,1.0496923889
+256,4.266666667,pose2_hold,0.617971941663,0.000181843790322,1.05002069254,0.588543087155,0.00885607767522,1.0496923889
+257,4.283333333,pose2_hold,0.617971941663,0.000181843790322,1.05002069254,0.588543087156,0.00885607767523,1.0496923889
+258,4.300000000,pose2_hold,0.617971941663,0.000181843790322,1.05002069254,0.588543087156,0.00885607767521,1.0496923889
+259,4.316666667,pose2_hold,0.617971941663,0.000181843790322,1.05002069254,0.588543087156,0.00885607767521,1.0496923889
+260,4.333333333,pose2_hold,0.617971941663,0.000181843790322,1.05002069254,0.588543087156,0.00885607767522,1.0496923889
+261,4.350000000,pose2_to_pose3_retreat,0.617971941663,0.000181843790322,1.05002069254,0.588543087156,0.00885607767525,1.0496923889
+262,4.366666667,pose2_to_pose3_retreat,0.61797191384,0.000181888485495,1.05002067617,0.588543058797,0.0088561207095,1.04969237687
+263,4.383333333,pose2_to_pose3_retreat,0.617971905375,0.000181902083681,1.05002067119,0.588543050168,0.00885613380236,1.04969237321
+264,4.400000000,pose2_to_pose3_retreat,0.617971887762,0.000181930376561,1.05002066083,0.588543032216,0.00885616104385,1.0496923656
+265,4.416666667,pose2_to_pose3_retreat,0.617971887706,0.000181930467451,1.0500206608,0.588543032159,0.00885616113136,1.04969236557
+266,4.433333333,pose2_to_pose3_retreat,0.617971860923,0.00018193625226,1.05002064482,0.588543005336,0.00885616682627,1.04969235082
+267,4.450000000,pose2_to_pose3_retreat,0.617971702355,0.000181922024986,1.05002054999,0.588542847154,0.00885615403096,1.0496922593
+268,4.466666667,pose2_to_pose3_retreat,0.61797159411,0.000181912312786,1.05002048525,0.588542739172,0.00885614529628,1.04969219684
+269,4.483333333,pose2_to_pose3_retreat,0.617970645674,0.000181888909112,1.05002050585,0.588541791648,0.00885612471731,1.0496922103
+270,4.500000000,pose2_to_pose3_retreat,0.617966504985,0.000181865436204,1.05002043015,0.588537649735,0.00885609726138,1.04969213803
+271,4.516666667,pose2_to_pose3_retreat,0.617957634866,0.000181767561937,1.05002054056,0.588528781494,0.00885600557568,1.04969224535
+272,4.533333333,pose2_to_pose3_retreat,0.617941296678,0.000181714085546,1.05002027883,0.588512443156,0.00885595178304,1.04969198885
+273,4.550000000,pose2_to_pose3_retreat,0.6179164561,0.000181929055771,1.05002045759,0.588487600167,0.00885615817607,1.0496921615
+274,4.566666667,pose2_to_pose3_retreat,0.617881711984,0.000181824595471,1.05002058657,0.588452856909,0.00885605634337,1.04969228092
+275,4.583333333,pose2_to_pose3_retreat,0.617837441179,0.00018176625971,1.05002052797,0.588408588036,0.00885600495345,1.04969223488
+276,4.600000000,pose2_to_pose3_retreat,0.617783649025,0.000181690869502,1.05002054358,0.588354796198,0.00885593049511,1.04969224639
+277,4.616666667,pose2_to_pose3_retreat,0.617721840378,0.000181780401116,1.05002037553,0.588292987424,0.00885602012009,1.04969208514
+278,4.633333333,pose2_to_pose3_retreat,0.617652469093,0.000181844343288,1.05002032163,0.5882236153,0.00885608152878,1.04969203618
+279,4.650000000,pose2_to_pose3_retreat,0.617574437115,0.000181814409235,1.05002037796,0.588145583342,0.00885605174885,1.04969209163
+280,4.666666667,pose2_to_pose3_retreat,0.617487346338,0.00018177497479,1.05002042384,0.588058493577,0.0088560157101,1.04969214014
+281,4.683333333,pose2_to_pose3_retreat,0.617389091351,0.000181840646913,1.05002059393,0.587960237117,0.0088560754916,1.04969230855
+282,4.700000000,pose2_to_pose3_retreat,0.617279248373,0.000181776396502,1.05002041284,0.587850395553,0.0088560157944,1.04969212369
+283,4.716666667,pose2_to_pose3_retreat,0.61715700722,0.000181800559915,1.05002048065,0.587728154413,0.00885603980874,1.04969219052
+284,4.733333333,pose2_to_pose3_retreat,0.617022775549,0.000181785141891,1.0500206061,0.587593923663,0.00885602719142,1.04969231103
+285,4.750000000,pose2_to_pose3_retreat,0.616876713316,0.000181778541229,1.05002069499,0.587447862051,0.00885602230565,1.04969239407
+286,4.766666667,pose2_to_pose3_retreat,0.616716245842,0.00018181029439,1.0500206617,0.587287393762,0.00885605108131,1.04969236068
+287,4.783333333,pose2_to_pose3_retreat,0.616539406515,0.000181782606449,1.05002037295,0.587110552577,0.0088560177351,1.04969209175
+288,4.800000000,pose2_to_pose3_retreat,0.616342319884,0.000181700305217,1.05002047919,0.586913467399,0.00885593998951,1.04969219165
+289,4.816666667,pose2_to_pose3_retreat,0.616125682814,0.00018179982763,1.05002052955,0.586696829948,0.00885603775019,1.04969223667
+290,4.833333333,pose2_to_pose3_retreat,0.615889729017,0.000181840796373,1.05002047819,0.586460876343,0.00885607906522,1.04969218437
+291,4.850000000,pose2_to_pose3_retreat,0.61563316958,0.000181791497289,1.05002039941,0.586204317436,0.0088560314313,1.04969210777
+292,4.866666667,pose2_to_pose3_retreat,0.615357375744,0.000181808060016,1.05002041384,0.585928522462,0.00885604396401,1.04969212359
+293,4.883333333,pose2_to_pose3_retreat,0.615060833675,0.000181777824581,1.05002054188,0.585631981141,0.00885601587721,1.04969224716
+294,4.900000000,pose2_to_pose3_retreat,0.614742821688,0.000181734135742,1.05002041684,0.585313968597,0.00885597020194,1.04969212622
+295,4.916666667,pose2_to_pose3_retreat,0.614401324054,0.000181856361856,1.05002065534,0.584972471262,0.00885609321997,1.04969236507
+296,4.933333333,pose2_to_pose3_retreat,0.614043994489,0.000181774871514,1.05002073202,0.584615143204,0.00885601623667,1.04969243265
+297,4.950000000,pose2_to_pose3_retreat,0.613672675045,0.000181685814777,1.05002063496,0.584243824441,0.00885592922244,1.04969233415
+298,4.966666667,pose2_to_pose3_retreat,0.61328945511,0.00018170164899,1.05002052849,0.583860604269,0.00885594442316,1.04969223562
+299,4.983333333,pose2_to_pose3_retreat,0.612894236038,0.000181684765459,1.05002054641,0.583465385982,0.00885593010723,1.04969225278
+300,5.000000000,pose2_to_pose3_retreat,0.612483776891,0.000181858704956,1.05002073605,0.58305492253,0.00885608932879,1.04969244289
+301,5.016666667,pose2_to_pose3_retreat,0.612049166109,0.00018191281944,1.05002051584,0.582620312181,0.00885614519093,1.04969222966
+302,5.033333333,pose2_to_pose3_retreat,0.611585393284,0.000181821289071,1.05002051222,0.582156541365,0.00885606047663,1.0496922254
+303,5.050000000,pose2_to_pose3_retreat,0.611098017649,0.000181761938805,1.05002060279,0.58166916653,0.00885600368187,1.04969231191
+304,5.066666667,pose2_to_pose3_retreat,0.610591260287,0.00018180783772,1.05002052365,0.581162408441,0.00885604713106,1.04969223297
+305,5.083333333,pose2_to_pose3_retreat,0.610073824065,0.000181643703463,1.05002050791,0.580644973893,0.00885588868124,1.04969221663
+306,5.100000000,pose2_to_pose3_retreat,0.609547622052,0.0001817479733,1.05002032361,0.580118771982,0.00885599321035,1.04969203029
+307,5.116666667,pose2_to_pose3_retreat,0.609010158346,0.000181970920146,1.05002053735,0.579581304978,0.00885620491413,1.04969224262
+308,5.133333333,pose2_to_pose3_retreat,0.608452908442,0.000181965981737,1.05002059739,0.579024053648,0.00885619518048,1.04969230369
+309,5.150000000,pose2_to_pose3_retreat,0.607872532784,0.000181825317823,1.0500205393,0.578443679033,0.00885605798766,1.04969224372
+310,5.166666667,pose2_to_pose3_retreat,0.60726974092,0.000181774583234,1.05002056753,0.577840888961,0.00885601310441,1.04969226595
+311,5.183333333,pose2_to_pose3_retreat,0.606648332313,0.000181743496355,1.05002051719,0.577219481379,0.00885598590153,1.04969222627
+312,5.200000000,pose2_to_pose3_retreat,0.606009348479,0.000181734339963,1.05002054741,0.576580496806,0.00885597399783,1.04969225005
+313,5.216666667,pose2_to_pose3_retreat,0.605353953253,0.000181693049234,1.05002057105,0.575925101606,0.0088559325855,1.04969226804
+314,5.233333333,pose2_to_pose3_retreat,0.604680142016,0.000181685362864,1.05002052928,0.575251290622,0.00885592610668,1.04969223552
+315,5.250000000,pose2_to_pose3_retreat,0.603993409742,0.00018176171651,1.05002051856,0.574564557582,0.0088559999911,1.04969222816
+316,5.266666667,pose2_to_pose3_retreat,0.603297467795,0.000181823176961,1.05002056788,0.573868615222,0.0088560596838,1.04969226762
+317,5.283333333,pose2_to_pose3_retreat,0.602594589085,0.000181776640665,1.05002060867,0.573165738013,0.00885601803957,1.04969230312
+318,5.300000000,pose2_to_pose3_retreat,0.601891287588,0.000181902047246,1.05002063927,0.572462434744,0.00885613794541,1.04969234716
+319,5.316666667,pose2_to_pose3_retreat,0.601192839221,0.000181911976327,1.05002035028,0.571763986166,0.00885614719595,1.04969205911
+320,5.333333333,pose2_to_pose3_retreat,0.600489080374,0.000181754333338,1.05002034634,0.571060229606,0.00885599743111,1.04969205824
+321,5.350000000,pose2_to_pose3_retreat,0.599778281543,0.000181693317587,1.05002038432,0.570349431178,0.00885593778681,1.04969209628
+322,5.366666667,pose2_to_pose3_retreat,0.599050986042,0.000181692870275,1.05002039829,0.56962213491,0.00885593467294,1.04969210852
+323,5.383333333,pose2_to_pose3_retreat,0.598310123756,0.000181687276282,1.05002039218,0.568881272401,0.00885592836546,1.04969210343
+324,5.400000000,pose2_to_pose3_retreat,0.597567868169,0.000181770353596,1.0500203637,0.568139016264,0.0088560097716,1.04969208004
+325,5.416666667,pose2_to_pose3_retreat,0.596826038239,0.000181632077198,1.05002043322,0.567397186068,0.0088558700023,1.04969213391
+326,5.433333333,pose2_to_pose3_retreat,0.596084812011,0.000181681120618,1.05002054174,0.566655961512,0.00885592460637,1.04969223938
+327,5.450000000,pose2_to_pose3_retreat,0.595357276012,0.000181708122029,1.05002054053,0.565928425353,0.00885595135147,1.04969224579
+328,5.466666667,pose2_to_pose3_retreat,0.594640043837,0.000181737955545,1.05002040695,0.565211192484,0.00885597902186,1.0496921172
+329,5.483333333,pose2_to_pose3_retreat,0.593924771398,0.000181779702474,1.05002034223,0.564495919561,0.00885601918479,1.04969205393
+330,5.500000000,pose2_to_pose3_retreat,0.59320730194,0.000181785154136,1.05002048694,0.563778450457,0.00885602592489,1.04969220087
+331,5.516666667,pose2_to_pose3_retreat,0.592479673573,0.000181608321292,1.05002038671,0.563050825556,0.00885586076289,1.04969209828
+332,5.533333333,pose2_to_pose3_retreat,0.591754984669,0.000181613664566,1.05002028529,0.562326133826,0.00885585650421,1.04969199642
+333,5.550000000,pose2_to_pose3_retreat,0.591040910803,0.000181774558314,1.05002052587,0.561612058753,0.00885601340511,1.04969223975
+334,5.566666667,pose2_to_pose3_retreat,0.59033592717,0.000181807548507,1.05002035607,0.560907074552,0.00885604432599,1.04969206613
+335,5.583333333,pose2_to_pose3_retreat,0.589645854286,0.000181834703392,1.05002035095,0.560217001059,0.00885606915311,1.04969205408
+336,5.600000000,pose2_to_pose3_retreat,0.588983512003,0.00018185710116,1.05002053124,0.559554658621,0.00885609091757,1.04969223152
+337,5.616666667,pose2_to_pose3_retreat,0.588340136986,0.000181778624192,1.05002041706,0.558911284453,0.00885601556431,1.04969212365
+338,5.633333333,pose2_to_pose3_retreat,0.587711746007,0.000181850493354,1.05002033635,0.558282892841,0.00885608597635,1.04969206116
+339,5.650000000,pose2_to_pose3_retreat,0.587093146647,0.000181797782917,1.05002066577,0.557664295012,0.00885603790762,1.049692376
+340,5.666666667,pose2_to_pose3_retreat,0.586482437182,0.000181807589564,1.05002048519,0.557053586211,0.0088560499852,1.04969219587
+341,5.683333333,pose2_to_pose3_retreat,0.585868577394,0.000181797223376,1.05002044574,0.556439726116,0.00885603847169,1.04969215362
+342,5.700000000,pose2_to_pose3_retreat,0.585255541312,0.000181753702866,1.05002063872,0.555826689593,0.00885599321804,1.04969234031
+343,5.716666667,pose2_to_pose3_retreat,0.584657224563,0.000181742836079,1.05002051492,0.555228372977,0.00885598315069,1.04969222579
+344,5.733333333,pose2_to_pose3_retreat,0.584082534403,0.000181684759734,1.05002048518,0.554653682612,0.00885592453133,1.04969220009
+345,5.750000000,pose2_to_pose3_retreat,0.583537767953,0.0001816951135,1.05002042682,0.554108917995,0.00885594077616,1.04969213308
+346,5.766666667,pose2_to_pose3_retreat,0.583028213001,0.000181765686679,1.05002040344,0.553599361552,0.00885600642299,1.04969211318
+347,5.783333333,pose2_to_pose3_retreat,0.582546871609,0.000181711988994,1.05002048164,0.553118019461,0.00885595018817,1.04969218694
+348,5.800000000,pose2_to_pose3_retreat,0.582077981019,0.000181708968076,1.05002055161,0.552649128382,0.00885594538561,1.04969225371
+349,5.816666667,pose2_to_pose3_retreat,0.581618544121,0.000181810112177,1.05002054091,0.552189691057,0.00885604523128,1.04969224696
+350,5.833333333,pose2_to_pose3_retreat,0.581169118535,0.000181655311736,1.05002053713,0.551740267674,0.0088558978182,1.04969224089
+351,5.850000000,pose2_to_pose3_retreat,0.580736518995,0.000181783819216,1.05002044763,0.55130766584,0.00885601848894,1.04969215005
+352,5.866666667,pose2_to_pose3_retreat,0.580323950482,0.000181811280935,1.05002066569,0.550895097539,0.00885604684815,1.04969237276
+353,5.883333333,pose2_to_pose3_retreat,0.579933110408,0.000181684114076,1.05002072438,0.55050425982,0.00885592752852,1.04969242763
+354,5.900000000,pose2_to_pose3_retreat,0.579560814531,0.000181598270424,1.05002068673,0.550131965185,0.00885584575914,1.04969238643
+355,5.916666667,pose2_to_pose3_retreat,0.579201901296,0.000181693876319,1.0500206362,0.549773050397,0.00885593623676,1.04969233953
+356,5.933333333,pose2_to_pose3_retreat,0.57885746852,0.00018186669917,1.05002055777,0.549428615529,0.00885610212465,1.04969226546
+357,5.950000000,pose2_to_pose3_retreat,0.578530809797,0.000181762192657,1.05002079226,0.549101958735,0.00885600395026,1.04969249437
+358,5.966666667,pose2_to_pose3_retreat,0.578228295256,0.00018179352998,1.05002049672,0.548799442517,0.00885602934111,1.049692192
+359,5.983333333,pose2_to_pose3_retreat,0.577952295568,0.00018169604277,1.05002051104,0.548523444116,0.00885593659913,1.04969221638
+360,6.000000000,pose2_to_pose3_retreat,0.57770655751,0.000181738701744,1.05002055194,0.548277705023,0.00885597565506,1.04969225484
+361,6.016666667,pose2_to_pose3_retreat,0.577486069393,0.000181774010637,1.05002059646,0.548057216241,0.00885600873792,1.04969230022
+362,6.033333333,pose2_to_pose3_retreat,0.577286435597,0.000181756753616,1.05002060079,0.547857582996,0.00885599361773,1.0496923117
+363,6.050000000,pose2_to_pose3_retreat,0.577099559048,0.000181789927453,1.05002041603,0.547670706401,0.00885602655525,1.04969212479
+364,6.066666667,pose2_to_pose3_retreat,0.57692358294,0.000181833762413,1.05002060781,0.547494730023,0.00885606926221,1.049692311
+365,6.083333333,pose2_to_pose3_retreat,0.576758007637,0.000181764232302,1.05002045342,0.547329156115,0.00885600455132,1.04969215887
+366,6.100000000,pose2_to_pose3_retreat,0.576603885649,0.000181739280609,1.05002049141,0.54717503439,0.00885598055963,1.04969219866
+367,6.116666667,pose2_to_pose3_retreat,0.576464162786,0.000181760010894,1.05002063203,0.547035310509,0.00885599785908,1.04969233999
+368,6.133333333,pose2_to_pose3_retreat,0.576338627381,0.000181706184895,1.05002026099,0.546909775169,0.00885594444817,1.04969197413
+369,6.150000000,pose2_to_pose3_retreat,0.576228360095,0.000181893261213,1.05002030655,0.546799505849,0.00885612428763,1.04969201075
+370,6.166666667,pose2_to_pose3_retreat,0.576131930422,0.000181752390208,1.05002059206,0.546703079844,0.00885599590424,1.04969229752
+371,6.183333333,pose2_to_pose3_retreat,0.576048486206,0.000181832841918,1.05002063627,0.546619634062,0.00885607120835,1.04969234652
+372,6.200000000,pose2_to_pose3_retreat,0.575976293535,0.000181794374417,1.05002057548,0.546547441758,0.00885603402659,1.04969228691
+373,6.216666667,pose2_to_pose3_retreat,0.575914211301,0.000181696762159,1.0500205258,0.546485361062,0.00885594153482,1.04969223454
+374,6.233333333,pose2_to_pose3_retreat,0.575861406811,0.000181705248427,1.05002051475,0.546432556023,0.00885594808103,1.04969222143
+375,6.250000000,pose2_to_pose3_retreat,0.575816410448,0.000181624633428,1.05002038349,0.546387559642,0.00885586769254,1.04969209771
+376,6.266666667,pose2_to_pose3_retreat,0.57577892972,0.000181704970961,1.05002051732,0.546350077942,0.0088559443445,1.04969222125
+377,6.283333333,pose2_to_pose3_retreat,0.575748333025,0.000181733095658,1.05002052246,0.546319481469,0.00885597342581,1.04969223175
+378,6.300000000,pose2_to_pose3_retreat,0.575724387418,0.000181757249728,1.05002053366,0.546295536354,0.00885599917076,1.04969224089
+379,6.316666667,pose2_to_pose3_retreat,0.575706306373,0.000181775364304,1.05002054658,0.546277454971,0.00885601601505,1.04969225061
+380,6.333333333,pose2_to_pose3_retreat,0.575693227418,0.000181789822949,1.050020538,0.546264374939,0.0088560268918,1.04969224396
+381,6.350000000,pose2_to_pose3_retreat,0.575684550895,0.000181823765063,1.05002052499,0.546255697577,0.0088560580896,1.04969223365
+382,6.366666667,pose2_to_pose3_retreat,0.575678408974,0.000181777052212,1.0500206346,0.546249556406,0.00885601360305,1.04969233462
+383,6.383333333,pose2_to_pose3_retreat,0.57567405085,0.000181730681096,1.05002065448,0.546245198958,0.00885596939398,1.04969235101
+384,6.400000000,pose2_to_pose3_retreat,0.575671397775,0.000181700513864,1.05002057494,0.546242546204,0.00885594042373,1.04969227453
+385,6.416666667,pose2_to_pose3_retreat,0.575670095053,0.000181688392082,1.05002051032,0.546241243704,0.00885592920988,1.04969221413
+386,6.433333333,pose2_to_pose3_retreat,0.57566930019,0.000181682883747,1.05002045295,0.546240449021,0.00885592448014,1.04969216124
+387,6.450000000,pose2_to_pose3_retreat,0.575668998123,0.000181680790452,1.05002043115,0.546240147022,0.00885592268273,1.04969214114
+388,6.466666667,pose2_to_pose3_retreat,0.575668725431,0.000181678900719,1.05002041147,0.546239874392,0.00885592106011,1.04969212299
+389,6.483333333,pose2_to_pose3_retreat,0.575668664106,0.000181678475745,1.05002040705,0.546239813081,0.0088559206952,1.04969211891
+390,6.500000000,pose2_to_pose3_retreat,0.575668420759,0.00018167678937,1.05002038949,0.546239569789,0.0088559192472,1.04969210272
+391,6.516666667,pose2_to_pose3_retreat,0.575668366866,0.000181676415898,1.0500203856,0.546239515908,0.00885591892651,1.04969209913
+392,6.533333333,pose2_to_pose3_retreat,0.575668188126,0.000181676239655,1.05002037441,0.546239337185,0.00885591883922,1.04969208883
+393,6.550000000,pose2_to_pose3_retreat,0.575668179681,0.000181677407495,1.05002037578,0.546239328714,0.00885591991591,1.04969209011
+394,6.566666667,pose2_to_pose3_retreat,0.57566812293,0.000181685255328,1.05002038496,0.546239271789,0.00885592715123,1.04969209869
+395,6.583333333,pose2_to_pose3_retreat,0.575667971206,0.00018170623642,1.05002040952,0.5462391196,0.00885594649476,1.04969212164
+396,6.600000000,pose2_to_pose3_retreat,0.575667833615,0.000181725263116,1.05002043179,0.546238981588,0.00885596403643,1.04969214245
+397,6.616666667,pose2_to_pose3_retreat,0.575667489002,0.000181772917784,1.05002048757,0.546238635919,0.00885600797168,1.04969219457
+398,6.633333333,pose2_to_pose3_retreat,0.575667239351,0.000181807440728,1.05002052798,0.546238385503,0.00885603980013,1.04969223232
+399,6.650000000,pose2_to_pose3_retreat,0.575667110225,0.00018174756997,1.05002052743,0.546238257423,0.00885598354112,1.04969223338
+400,6.666666667,pose2_to_pose3_retreat,0.575667002481,0.000181683980304,1.05002052321,0.546238150807,0.00885592384305,1.04969223102
+401,6.683333333,pose2_to_pose3_retreat,0.575666909971,0.000181634374991,1.05002051532,0.546238059221,0.0088558774382,1.0496922248
+402,6.700000000,pose2_to_pose3_retreat,0.575666775673,0.000181706658103,1.05002038056,0.54623792504,0.00885595029479,1.04969209475
+403,6.716666667,pose2_to_pose3_retreat,0.575666769333,0.00018171007081,1.0500203742,0.546237918705,0.00885595373458,1.04969208861
+404,6.733333333,pose2_to_pose3_retreat,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641375,1.04969208382
+405,6.750000000,pose2_to_pose3_retreat,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641387,1.04969208382

Part2/Obstacle_avoidance/cylinder_15A_10/position_01/depth_02/fem_node.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:202c70eb138066c693c52a5681c001258c9397770e95e004b327006251c62bea
+size 25840297

Part2/Obstacle_avoidance/cylinder_15A_10/position_01/depth_02/simulation_data.csv

@@ -0,0 +1,409 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+1,0.016666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+2,0.033333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+3,0.050000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+4,0.066666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+5,0.083333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+6,0.100000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+7,0.116666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+8,0.133333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+9,0.150000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+10,0.166666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+11,0.183333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+12,0.200000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+13,0.216666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+14,0.233333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+15,0.250000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+16,0.266666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+17,0.283333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+18,0.300000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+19,0.316666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+20,0.333333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+21,0.350000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+22,0.366666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+23,0.383333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+24,0.400000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+25,0.416666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+26,0.433333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+27,0.450000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+28,0.466666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+29,0.483333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+30,0.500000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+31,0.516666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+32,0.533333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+33,0.550000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+34,0.566666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+35,0.583333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+36,0.600000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+37,0.616666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+38,0.633333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+39,0.650000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+40,0.666666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+41,0.683333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+42,0.700000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+43,0.716666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+44,0.733333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+45,0.750000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+46,0.766666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+47,0.783333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+48,0.800000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+49,0.816666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+50,0.833333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+51,0.850000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+52,0.866666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+53,0.883333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+54,0.900000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+55,0.916666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+56,0.933333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+57,0.950000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+58,0.966666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+59,0.983333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+60,1.000000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+61,1.016666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+62,1.033333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+63,1.050000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+64,1.066666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+65,1.083333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+66,1.100000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+67,1.116666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+68,1.133333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+69,1.150000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+70,1.166666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+71,1.183333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+72,1.200000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+73,1.216666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+74,1.233333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+75,1.250000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+76,1.266666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+77,1.283333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+78,1.300000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+79,1.316666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+80,1.333333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+81,1.350000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+82,1.366666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+83,1.383333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+84,1.400000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+85,1.416666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+86,1.433333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+87,1.450000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+88,1.466666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+89,1.483333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+90,1.500000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+91,1.516666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+92,1.533333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+93,1.550000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+94,1.566666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+95,1.583333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+96,1.600000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+97,1.616666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+98,1.633333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+99,1.650000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+100,1.666666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+101,1.683333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+102,1.700000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+103,1.716666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+104,1.733333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+105,1.750000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+106,1.766666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+107,1.783333333,pose1_to_pose2_press,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+108,1.800000000,pose1_to_pose2_press,0.575666914848,0.000181731117136,1.05002048226,0.546238063565,0.00885597220655,1.04969218745
+109,1.816666667,pose1_to_pose2_press,0.575667027431,0.000181744876797,1.05002056682,0.546238175653,0.00885598402401,1.049692265
+110,1.833333333,pose1_to_pose2_press,0.575667134866,0.000181736754274,1.05002053485,0.546238283094,0.00885597601054,1.04969223534
+111,1.850000000,pose1_to_pose2_press,0.575667139384,0.000181736331966,1.05002053307,0.546238287614,0.00885597560027,1.0496922337
+112,1.866666667,pose1_to_pose2_press,0.575667178651,0.00018173266121,1.05002051767,0.5462383269,0.00885597203419,1.04969221944
+113,1.883333333,pose1_to_pose2_press,0.575667215118,0.000181729252264,1.05002050336,0.546238363384,0.00885596872245,1.04969220619
+114,1.900000000,pose1_to_pose2_press,0.575667616992,0.000181703402732,1.05002038876,0.546238765319,0.00885594339988,1.04969210007
+115,1.916666667,pose1_to_pose2_press,0.575669272887,0.000181707318722,1.0500204227,0.546240420717,0.00885594558003,1.04969213262
+116,1.933333333,pose1_to_pose2_press,0.575674924969,0.000181721273647,1.05002055146,0.546246073093,0.00885596025936,1.04969225409
+117,1.950000000,pose1_to_pose2_press,0.575686328061,0.000181715253028,1.05002055044,0.546257476508,0.0088559554779,1.04969225682
+118,1.966666667,pose1_to_pose2_press,0.575706615765,0.000181726574105,1.05002044789,0.546277764164,0.00885596664091,1.04969215437
+119,1.983333333,pose1_to_pose2_press,0.575736317548,0.000181711341263,1.05002051438,0.546307466393,0.00885595299326,1.04969222262
+120,2.000000000,pose1_to_pose2_press,0.575775959443,0.000181708192392,1.05002049322,0.546347108527,0.00885595048298,1.04969219689
+121,2.016666667,pose1_to_pose2_press,0.575824517748,0.000181831746457,1.05002069483,0.546395666488,0.00885607300309,1.04969240194
+122,2.033333333,pose1_to_pose2_press,0.575881997392,0.000181812269722,1.05002046132,0.546453145503,0.00885605158089,1.04969217334
+123,2.050000000,pose1_to_pose2_press,0.575948150481,0.00018174498771,1.05002051704,0.546519299276,0.00885598645489,1.04969222464
+124,2.066666667,pose1_to_pose2_press,0.576023344045,0.000181801554493,1.05002059142,0.54659449094,0.00885603662265,1.04969230019
+125,2.083333333,pose1_to_pose2_press,0.576108891305,0.000181727172254,1.05002050405,0.546680038918,0.00885596482276,1.04969221665
+126,2.100000000,pose1_to_pose2_press,0.576204240919,0.000181679002486,1.0500205581,0.546775389654,0.00885592030035,1.04969226639
+127,2.116666667,pose1_to_pose2_press,0.576309861934,0.000181938523592,1.05002063344,0.546881007236,0.00885616790901,1.04969233477
+128,2.133333333,pose1_to_pose2_press,0.576426849033,0.000181659557292,1.05002044252,0.54699799789,0.00885590098135,1.04969214326
+129,2.150000000,pose1_to_pose2_press,0.576557022314,0.000181733226816,1.05002043806,0.547128169699,0.00885596970422,1.04969214002
+130,2.166666667,pose1_to_pose2_press,0.57670295685,0.000181850472702,1.05002031643,0.547274103263,0.00885608386989,1.04969202406
+131,2.183333333,pose1_to_pose2_press,0.576865734895,0.000181763224983,1.05002026026,0.547436882631,0.00885600132007,1.04969197338
+132,2.200000000,pose1_to_pose2_press,0.577048019114,0.000181723184914,1.05002057514,0.547619167059,0.0088559615813,1.04969227742
+133,2.216666667,pose1_to_pose2_press,0.577246676948,0.000181726118362,1.05002058674,0.547817824834,0.0088559641819,1.04969228542
+134,2.233333333,pose1_to_pose2_press,0.577460067265,0.00018178321025,1.050020277,0.548031215171,0.00885602180525,1.04969198794
+135,2.250000000,pose1_to_pose2_press,0.577687202994,0.000181874864499,1.0500203704,0.54825835023,0.00885611129215,1.04969208404
+136,2.266666667,pose1_to_pose2_press,0.577928471003,0.000181724374896,1.05002082291,0.548499618941,0.0088559624607,1.04969251733
+137,2.283333333,pose1_to_pose2_press,0.578184418071,0.000181922351985,1.05002076636,0.548755565081,0.0088561578004,1.04969247438
+138,2.300000000,pose1_to_pose2_press,0.578457839606,0.000181731907487,1.05002040729,0.549028987635,0.00885597069991,1.04969211221
+139,2.316666667,pose1_to_pose2_press,0.578757273123,0.000181782600202,1.05002046429,0.549328420745,0.00885601996759,1.04969216796
+140,2.333333333,pose1_to_pose2_press,0.579082904775,0.000181764519978,1.05002038613,0.549654052002,0.00885600079144,1.04969209625
+141,2.350000000,pose1_to_pose2_press,0.57943709851,0.000181795879582,1.05002026372,0.550008245356,0.00885603098981,1.04969197725
+142,2.366666667,pose1_to_pose2_press,0.579820321425,0.000181795717831,1.05002034292,0.550391468631,0.00885603174987,1.04969204859
+143,2.383333333,pose1_to_pose2_press,0.580230216191,0.000181711495597,1.05002051546,0.550801364522,0.00885595124485,1.04969221832
+144,2.400000000,pose1_to_pose2_press,0.580653416559,0.00018177924,1.05002063024,0.551224565264,0.00885602065357,1.04969234356
+145,2.416666667,pose1_to_pose2_press,0.581087658284,0.000181694945665,1.05002063517,0.551658807342,0.00885593747229,1.04969234619
+146,2.433333333,pose1_to_pose2_press,0.581532885588,0.000181818159484,1.05002066583,0.55210403264,0.00885605346639,1.04969236597
+147,2.450000000,pose1_to_pose2_press,0.581991283116,0.000181789668534,1.05002051465,0.552562429108,0.00885602182914,1.04969222664
+148,2.466666667,pose1_to_pose2_press,0.582466235849,0.000181731733059,1.05002050315,0.553037383279,0.00885596878166,1.04969221533
+149,2.483333333,pose1_to_pose2_press,0.582970697733,0.00018176858669,1.05002055555,0.553541845039,0.00885600476512,1.04969225586
+150,2.500000000,pose1_to_pose2_press,0.583501051392,0.000181706782824,1.05002063069,0.554072199812,0.00885594679317,1.04969233233
+151,2.516666667,pose1_to_pose2_press,0.584046314777,0.000181774477218,1.05002047537,0.554617463353,0.00885601510557,1.04969217926
+152,2.533333333,pose1_to_pose2_press,0.584601786223,0.000181880998343,1.05002033903,0.55517293402,0.00885611910682,1.04969204625
+153,2.550000000,pose1_to_pose2_press,0.585166070251,0.000181853273077,1.05002043421,0.555737217685,0.00885609024996,1.04969214399
+154,2.566666667,pose1_to_pose2_press,0.585745506519,0.000181773370334,1.05002057428,0.556316654263,0.00885601111809,1.04969227671
+155,2.583333333,pose1_to_pose2_press,0.586347468971,0.000181764756455,1.05002063545,0.556918618392,0.00885600843228,1.04969234415
+156,2.600000000,pose1_to_pose2_press,0.586980567069,0.000181595645571,1.05002043383,0.557551716165,0.00885583805618,1.04969213823
+157,2.616666667,pose1_to_pose2_press,0.587640035896,0.000181760412122,1.05002030218,0.558211183788,0.0088559988793,1.04969201029
+158,2.633333333,pose1_to_pose2_press,0.588318613748,0.000181604425549,1.05002057709,0.558889763255,0.00885584840085,1.04969228601
+159,2.650000000,pose1_to_pose2_press,0.58900145033,0.000181813966091,1.05002054772,0.559572598164,0.00885605231714,1.04969225805
+160,2.666666667,pose1_to_pose2_press,0.589683060132,0.000181836577028,1.05002051552,0.560254207102,0.00885607198209,1.04969222544
+161,2.683333333,pose1_to_pose2_press,0.590357136074,0.0001818404482,1.05002051616,0.560928283042,0.00885607587195,1.04969222673
+162,2.700000000,pose1_to_pose2_press,0.591026848755,0.000181874827637,1.05002057383,0.56159799519,0.00885610834298,1.04969228187
+163,2.716666667,pose1_to_pose2_press,0.591710747605,0.000181868368559,1.05002070308,0.562281893506,0.0088560998157,1.04969240433
+164,2.733333333,pose1_to_pose2_press,0.592412866417,0.000181896555629,1.05002078319,0.56298401366,0.00885613252414,1.04969248355
+165,2.750000000,pose1_to_pose2_press,0.593139987378,0.000181987894073,1.05002064975,0.563711132666,0.00885621746987,1.04969235656
+166,2.766666667,pose1_to_pose2_press,0.593887632506,0.000181831590786,1.05002055022,0.56445878086,0.00885607152538,1.04969225597
+167,2.783333333,pose1_to_pose2_press,0.594649980335,0.000181676989469,1.050020461,0.565221128458,0.00885591583964,1.04969215877
+168,2.800000000,pose1_to_pose2_press,0.595416052444,0.000181786490532,1.0500205108,0.565987199709,0.00885602272991,1.04969221652
+169,2.816666667,pose1_to_pose2_press,0.596179161038,0.000181827187395,1.05002082205,0.566750308769,0.00885606473337,1.04969252055
+170,2.833333333,pose1_to_pose2_press,0.596925995285,0.000181803444243,1.0500207138,0.567497143196,0.00885604151409,1.04969241015
+171,2.850000000,pose1_to_pose2_press,0.597663407679,0.000181813714793,1.05002049288,0.568234554759,0.00885604921421,1.0496921958
+172,2.866666667,pose1_to_pose2_press,0.598394172553,0.000181875694629,1.05002049495,0.568965319092,0.00885610962771,1.04969220506
+173,2.883333333,pose1_to_pose2_press,0.599127147407,0.000181922903177,1.05002057688,0.569698293938,0.00885615676453,1.04969228589
+174,2.900000000,pose1_to_pose2_press,0.599867127445,0.000181881739132,1.05002048627,0.570438273137,0.00885611237886,1.04969218533
+175,2.916666667,pose1_to_pose2_press,0.600609911927,0.000181808087228,1.05002065883,0.571181058621,0.008856042263,1.04969236161
+176,2.933333333,pose1_to_pose2_press,0.601355198061,0.000181767175566,1.05002052615,0.571926346592,0.00885600776103,1.04969223365
+177,2.950000000,pose1_to_pose2_press,0.602100977583,0.00018182679041,1.05002073042,0.572672124822,0.00885606310409,1.04969244087
+178,2.966666667,pose1_to_pose2_press,0.602828872138,0.000181758060183,1.05002046937,0.57340002053,0.0088559981246,1.04969217572
+179,2.983333333,pose1_to_pose2_press,0.60353234785,0.000181718448564,1.0500205017,0.574103496257,0.00885595852338,1.04969220698
+180,3.000000000,pose1_to_pose2_press,0.604216984549,0.000181732280655,1.05002045548,0.574788132789,0.00885597194108,1.04969216485
+181,3.016666667,pose1_to_pose2_press,0.604886823445,0.00018178919668,1.05002045591,0.575457970738,0.00885602568598,1.04969216638
+182,3.033333333,pose1_to_pose2_press,0.605558201602,0.000181848973955,1.05002053265,0.576129347845,0.00885608179179,1.0496922404
+183,3.050000000,pose1_to_pose2_press,0.606233073256,0.000181889374987,1.05002056346,0.57680421945,0.00885612198572,1.04969227013
+184,3.066666667,pose1_to_pose2_press,0.606910835624,0.000181918067224,1.05002063944,0.577481981822,0.00885615062493,1.0496923444
+185,3.083333333,pose1_to_pose2_press,0.607578836267,0.000181768354616,1.0500205609,0.578149984714,0.00885600835101,1.04969226092
+186,3.100000000,pose1_to_pose2_press,0.608227922291,0.000181785015782,1.05002050399,0.57879906916,0.00885602013428,1.04969221666
+187,3.116666667,pose1_to_pose2_press,0.608841509788,0.000181773293176,1.05002064276,0.579412656101,0.00885600627068,1.0496923487
+188,3.133333333,pose1_to_pose2_press,0.609423381554,0.000181914602139,1.05002077549,0.57999452943,0.0088561526839,1.0496924763
+189,3.150000000,pose1_to_pose2_press,0.609978114811,0.000181832671759,1.05002070555,0.580549263193,0.0088560725518,1.04969240859
+190,3.166666667,pose1_to_pose2_press,0.610515090578,0.000181791423879,1.05002049541,0.581086238626,0.0088560305712,1.04969220904
+191,3.183333333,pose1_to_pose2_press,0.611035367707,0.000181793592645,1.05002035832,0.581606515883,0.00885603338602,1.04969207764
+192,3.200000000,pose1_to_pose2_press,0.611544032754,0.000181757748148,1.05002035831,0.582115181863,0.00885600046587,1.04969207132
+193,3.216666667,pose1_to_pose2_press,0.612040877623,0.000181709178237,1.05002033173,0.58261202724,0.00885595332974,1.04969203718
+194,3.233333333,pose1_to_pose2_press,0.612523646311,0.000181672504359,1.05002055173,0.583094796908,0.00885591978818,1.04969225192
+195,3.250000000,pose1_to_pose2_press,0.612994404809,0.000181636015977,1.05002042321,0.583565555959,0.00885588546986,1.04969212977
+196,3.266666667,pose1_to_pose2_press,0.613450587369,0.000181749749753,1.05002059648,0.584021735023,0.00885598746924,1.04969230128
+197,3.283333333,pose1_to_pose2_press,0.613884047278,0.000181792471443,1.05002069732,0.584455194229,0.00885602770474,1.0496923946
+198,3.300000000,pose1_to_pose2_press,0.614290805603,0.00018183789292,1.05002045511,0.584861951172,0.00885606903048,1.04969216168
+199,3.316666667,pose1_to_pose2_press,0.614669876125,0.000181855743138,1.05002047952,0.585241020883,0.00885608446515,1.04969218795
+200,3.333333333,pose1_to_pose2_press,0.615025924774,0.00018187559773,1.05002072564,0.585597070198,0.00885610657138,1.04969242692
+201,3.350000000,pose1_to_pose2_press,0.615366119526,0.000181955457148,1.05002052919,0.585937265555,0.00885618910432,1.04969223972
+202,3.366666667,pose1_to_pose2_press,0.61569420818,0.000181728660119,1.05002069777,0.586265356434,0.00885596957265,1.04969239378
+203,3.383333333,pose1_to_pose2_press,0.616010403007,0.00018184794942,1.05002065486,0.586581549121,0.00885608227922,1.04969236079
+204,3.400000000,pose1_to_pose2_press,0.616313622833,0.000181797069738,1.05002055012,0.586884769179,0.00885603243407,1.04969225672
+205,3.416666667,pose1_to_pose2_press,0.616602060983,0.000181722355322,1.05002048869,0.587173208429,0.00885596215818,1.04969220526
+206,3.433333333,pose1_to_pose2_press,0.616867613288,0.000181641573188,1.05002051816,0.58743876154,0.00885588417278,1.04969222738
+207,3.450000000,pose1_to_pose2_press,0.617110763802,0.000181747818376,1.05002049093,0.5876819109,0.00885598642224,1.04969219054
+208,3.466666667,pose1_to_pose2_press,0.617329351656,0.000181840041279,1.05002047249,0.587900498142,0.00885607701674,1.04969217767
+209,3.483333333,pose1_to_pose2_press,0.617525853023,0.000181836567046,1.05002047047,0.588096999351,0.00885607347916,1.04969218354
+210,3.500000000,pose1_to_pose2_press,0.617700436879,0.000181870595677,1.05002040953,0.588271581607,0.00885610200748,1.04969211725
+211,3.516666667,pose1_to_pose2_press,0.617860614482,0.000181875855788,1.05002040423,0.588431759276,0.00885610781301,1.04969211147
+212,3.533333333,pose1_to_pose2_press,0.618007691248,0.000181691120361,1.05002036151,0.588578839411,0.00885593503079,1.04969207896
+213,3.550000000,pose1_to_pose2_press,0.61814343692,0.000181578703108,1.05002056498,0.588714586581,0.00885582745737,1.04969227353
+214,3.566666667,pose1_to_pose2_press,0.618268483146,0.000181706229997,1.05002067661,0.588839631705,0.00885595115043,1.04969237724
+215,3.583333333,pose1_to_pose2_press,0.618382935011,0.000181787904476,1.05002061858,0.588954081823,0.00885602698487,1.04969231944
+216,3.600000000,pose1_to_pose2_press,0.61848543887,0.000181772126482,1.05002053201,0.589056585349,0.00885601029185,1.04969223872
+217,3.616666667,pose1_to_pose2_press,0.618575645461,0.000181797091076,1.05002052163,0.589146792074,0.00885603632044,1.04969223225
+218,3.633333333,pose1_to_pose2_press,0.61865339464,0.00018172959396,1.05002056055,0.589224540244,0.00885596605429,1.04969226772
+219,3.650000000,pose1_to_pose2_press,0.618719237017,0.000181700525382,1.05002067422,0.589290383111,0.00885593804854,1.04969237697
+220,3.666666667,pose1_to_pose2_press,0.618773145074,0.000181633445629,1.05002071925,0.589344293107,0.00885587650025,1.04969241304
+221,3.683333333,pose1_to_pose2_press,0.618817706766,0.000181683556049,1.05002059975,0.589388853773,0.00885592365992,1.04969229458
+222,3.700000000,pose1_to_pose2_press,0.618853727305,0.000181895238494,1.05002062485,0.589424873756,0.00885613381744,1.0496923321
+223,3.716666667,pose1_to_pose2_press,0.618883907602,0.000181742181231,1.05002064055,0.589455056025,0.0088559875171,1.04969235
+224,3.733333333,pose1_to_pose2_press,0.618908428512,0.000181696306894,1.05002058484,0.589479576628,0.00885594059661,1.04969229346
+225,3.750000000,pose1_to_pose2_press,0.618927780563,0.000181772130821,1.05002043071,0.589498927252,0.0088560116497,1.04969214041
+226,3.766666667,pose1_to_pose2_press,0.618942496755,0.000181722358982,1.05002035629,0.589513644696,0.0088559660705,1.04969206276
+227,3.783333333,pose1_to_pose2_press,0.618952816353,0.000181700497502,1.05002060351,0.589523966315,0.00885595070233,1.04969229916
+228,3.800000000,pose1_to_pose2_press,0.618959603237,0.000181725763152,1.05002074837,0.589530751445,0.0088559703518,1.04969245364
+229,3.816666667,pose1_to_pose2_press,0.618963459624,0.000181687597926,1.0500207174,0.589534607102,0.00885592973196,1.04969242411
+230,3.833333333,pose1_to_pose2_press,0.618966141718,0.000181643234522,1.05002065742,0.589537288779,0.0088558839113,1.04969236376
+231,3.850000000,pose1_to_pose2_press,0.618967792243,0.000181720254032,1.05002060447,0.58953893873,0.00885595896858,1.04969231011
+232,3.866666667,pose1_to_pose2_press,0.618968836586,0.000181783648602,1.05002056871,0.589539982665,0.00885602097184,1.04969227384
+233,3.883333333,pose1_to_pose2_press,0.618969664045,0.000181818912829,1.05002054402,0.589540809934,0.00885605557735,1.04969224862
+234,3.900000000,pose1_to_pose2_press,0.618970391878,0.000181743530308,1.05002054819,0.589541538542,0.0088559827698,1.04969225139
+235,3.916666667,pose1_to_pose2_press,0.618970854014,0.000181695666265,1.05002055083,0.58954200117,0.00885593654074,1.04969225315
+236,3.933333333,pose1_to_pose2_press,0.618971035293,0.000181678076037,1.05002055177,0.589542182626,0.00885591953702,1.04969225377
+237,3.950000000,pose1_to_pose2_press,0.618971234547,0.000181716293268,1.05002054807,0.589542381278,0.00885595573635,1.04969225074
+238,3.966666667,pose1_to_pose2_press,0.618971379666,0.000181744127628,1.05002054538,0.58954252596,0.00885598210103,1.04969224853
+239,3.983333333,pose1_to_pose2_press,0.618971476216,0.000181762646135,1.05002054359,0.589542622218,0.00885599964174,1.04969224706
+240,4.000000000,pose1_to_pose2_press,0.618971518309,0.000181770719513,1.05002054281,0.589542664183,0.00885600728884,1.04969224642
+241,4.016666667,pose1_to_pose2_press,0.618971724708,0.000181810307406,1.05002053898,0.58954286996,0.00885604478645,1.04969224329
+242,4.033333333,pose1_to_pose2_press,0.618971775489,0.000181786129834,1.05002053392,0.589542921659,0.00885602381473,1.04969224045
+243,4.050000000,pose1_to_pose2_press,0.618971792487,0.000181767476712,1.05002053094,0.589542939297,0.00885600739294,1.04969223886
+244,4.066666667,pose1_to_pose2_press,0.618971792938,0.00018176698167,1.05002053086,0.589542939765,0.00885600695712,1.04969223882
+245,4.083333333,pose1_to_pose2_press,0.61897180292,0.000181756026654,1.05002052911,0.589542950124,0.00885599731257,1.04969223789
+246,4.100000000,pose1_to_pose2_press,0.618971924228,0.000181699383349,1.05002028716,0.589543071962,0.00885594245511,1.04969199561
+247,4.116666667,pose2_hold,0.618971924228,0.000181699383349,1.05002028716,0.589543071965,0.00885594245452,1.04969199561
+248,4.133333333,pose2_hold,0.618971924228,0.000181699383349,1.05002028716,0.589543071965,0.00885594245453,1.04969199561
+249,4.150000000,pose2_hold,0.618971924228,0.000181699383349,1.05002028716,0.589543071965,0.00885594245446,1.04969199561
+250,4.166666667,pose2_hold,0.618971924228,0.000181699383349,1.05002028716,0.589543071965,0.00885594245421,1.04969199561
+251,4.183333333,pose2_hold,0.618971924228,0.000181699383349,1.05002028716,0.589543071965,0.0088559424542,1.04969199561
+252,4.200000000,pose2_hold,0.618971924228,0.000181699383349,1.05002028716,0.589543071965,0.00885594245419,1.04969199561
+253,4.216666667,pose2_hold,0.618971924228,0.000181699383349,1.05002028716,0.589543071965,0.00885594245432,1.04969199561
+254,4.233333333,pose2_hold,0.618971924228,0.000181699383349,1.05002028716,0.589543071965,0.00885594245435,1.04969199561
+255,4.250000000,pose2_hold,0.618971924228,0.000181699383349,1.05002028716,0.589543071965,0.00885594245433,1.04969199561
+256,4.266666667,pose2_hold,0.618971924228,0.000181699383349,1.05002028716,0.589543071966,0.00885594245431,1.04969199561
+257,4.283333333,pose2_hold,0.618971924228,0.000181699383349,1.05002028716,0.589543071966,0.00885594245429,1.04969199561
+258,4.300000000,pose2_hold,0.618971924228,0.000181699383349,1.05002028716,0.589543071966,0.00885594245425,1.04969199561
+259,4.316666667,pose2_hold,0.618971924228,0.000181699383349,1.05002028716,0.589543071966,0.0088559424542,1.04969199561
+260,4.333333333,pose2_hold,0.618971924228,0.000181699383349,1.05002028716,0.589543071966,0.00885594245414,1.04969199561
+261,4.350000000,pose2_hold,0.618971924228,0.000181699383349,1.05002028716,0.589543071966,0.00885594245402,1.04969199561
+262,4.366666667,pose2_hold,0.618971924228,0.000181699383349,1.05002028716,0.589543071967,0.008855942454,1.04969199561
+263,4.383333333,pose2_to_pose3_retreat,0.618971924228,0.000181699383349,1.05002028716,0.589543071967,0.00885594245387,1.04969199561
+264,4.400000000,pose2_to_pose3_retreat,0.618971888079,0.000181699406995,1.05002035581,0.589543035254,0.00885594056831,1.04969206467
+265,4.416666667,pose2_to_pose3_retreat,0.618971871463,0.000181699417865,1.05002038736,0.589543018377,0.00885593970158,1.04969209642
+266,4.433333333,pose2_to_pose3_retreat,0.618971856345,0.000181701586357,1.05002040431,0.589543003154,0.00885594150389,1.04969211326
+267,4.450000000,pose2_to_pose3_retreat,0.618971761438,0.000181723665555,1.05002046459,0.58954290809,0.0088559629792,1.04969217175
+268,4.466666667,pose2_to_pose3_retreat,0.618971595851,0.000181762187734,1.05002056976,0.58954274223,0.00885600044775,1.0496922738
+269,4.483333333,pose2_to_pose3_retreat,0.618971379106,0.000181804801395,1.05002067602,0.589542525193,0.00885604193821,1.04969237686
+270,4.500000000,pose2_to_pose3_retreat,0.618970777936,0.000181831860665,1.05002060422,0.58954192397,0.00885606886888,1.04969230655
+271,4.516666667,pose2_to_pose3_retreat,0.618969089148,0.000181899393782,1.05002060211,0.589540233981,0.00885613242026,1.04969230614
+272,4.533333333,pose2_to_pose3_retreat,0.618963942517,0.000181835231285,1.05002072835,0.589535088086,0.00885607095875,1.04969243592
+273,4.550000000,pose2_to_pose3_retreat,0.618953885421,0.000181661327591,1.0500205057,0.589525033158,0.00885590453429,1.04969221629
+274,4.566666667,pose2_to_pose3_retreat,0.618935307567,0.000181848049357,1.05002039092,0.589506453065,0.00885608360025,1.0496921027
+275,4.583333333,pose2_to_pose3_retreat,0.618907653995,0.000181698140305,1.05002054907,0.589478801807,0.00885594152765,1.04969225655
+276,4.600000000,pose2_to_pose3_retreat,0.618869957308,0.000181736704174,1.05002066777,0.589441104217,0.00885597679965,1.04969237016
+277,4.616666667,pose2_to_pose3_retreat,0.618823607952,0.000181731611228,1.0500205306,0.589394755495,0.00885597389383,1.04969224021
+278,4.633333333,pose2_to_pose3_retreat,0.618768356217,0.000181706651258,1.05002050334,0.589339503421,0.00885594771663,1.04969221539
+279,4.650000000,pose2_to_pose3_retreat,0.618706469674,0.000181660203887,1.05002077334,0.589277617405,0.00885590215296,1.04969247433
+280,4.666666667,pose2_to_pose3_retreat,0.618637699131,0.000181884260389,1.05002068311,0.58920884465,0.00885611986347,1.04969238979
+281,4.683333333,pose2_to_pose3_retreat,0.618559727584,0.000181842747815,1.05002046963,0.589130873183,0.00885607916056,1.04969218484
+282,4.700000000,pose2_to_pose3_retreat,0.618471857463,0.000181804818545,1.05002043808,0.589043003446,0.00885604192155,1.04969215081
+283,4.716666667,pose2_to_pose3_retreat,0.618371603972,0.000181794844996,1.05002045189,0.58894275042,0.00885603268193,1.04969215835
+284,4.733333333,pose2_to_pose3_retreat,0.61825755711,0.000181715245041,1.05002035242,0.588828704577,0.00885595648956,1.04969206073
+285,4.750000000,pose2_to_pose3_retreat,0.61812822147,0.00018179723977,1.05002079657,0.588699367815,0.00885603424934,1.0496924983
+286,4.766666667,pose2_to_pose3_retreat,0.617984722187,0.000181994618907,1.05002068022,0.588555866845,0.00885622601901,1.04969238683
+287,4.783333333,pose2_to_pose3_retreat,0.617827938149,0.000181879764961,1.05002040639,0.588399083785,0.00885611437401,1.04969211452
+288,4.800000000,pose2_to_pose3_retreat,0.617656964163,0.000181747404771,1.05002045789,0.588228111709,0.00885598824169,1.04969216763
+289,4.816666667,pose2_to_pose3_retreat,0.617472990584,0.00018169985793,1.05002055715,0.588044138849,0.00885594287966,1.04969226644
+290,4.833333333,pose2_to_pose3_retreat,0.617275480774,0.000181738104687,1.05002044456,0.587846627696,0.00885597632027,1.04969214851
+291,4.850000000,pose2_to_pose3_retreat,0.617061385355,0.000181815716054,1.05002058101,0.587632531039,0.00885604904167,1.04969227457
+292,4.866666667,pose2_to_pose3_retreat,0.616829211391,0.00018174333041,1.05002077063,0.587400358608,0.00885598160001,1.04969246258
+293,4.883333333,pose2_to_pose3_retreat,0.616574174698,0.000181722972007,1.05002072872,0.587145322658,0.00885596393899,1.0496924285
+294,4.900000000,pose2_to_pose3_retreat,0.616296643058,0.000181653802405,1.05002060369,0.586867791896,0.00885589769071,1.0496923092
+295,4.916666667,pose2_to_pose3_retreat,0.615994568423,0.000181614159028,1.05002055588,0.586565717735,0.00885585937907,1.04969226437
+296,4.933333333,pose2_to_pose3_retreat,0.615670051857,0.000181769300733,1.05002056076,0.586241199498,0.00885600882016,1.04969227557
+297,4.950000000,pose2_to_pose3_retreat,0.615321954356,0.000181877563383,1.05002028843,0.585893099338,0.00885610753779,1.04969199818
+298,4.966666667,pose2_to_pose3_retreat,0.614956062968,0.000181951975308,1.05002073227,0.585527210613,0.00885619052162,1.04969243676
+299,4.983333333,pose2_to_pose3_retreat,0.614573434575,0.000181790524656,1.05002070233,0.585144581711,0.00885602695671,1.04969240405
+300,5.000000000,pose2_to_pose3_retreat,0.614177896746,0.000181910501545,1.05002059966,0.584749041401,0.00885613830854,1.04969230261
+301,5.016666667,pose2_to_pose3_retreat,0.61377057088,0.000181957787509,1.05002047636,0.584341715161,0.00885618438805,1.04969218555
+302,5.033333333,pose2_to_pose3_retreat,0.613349011863,0.000181813199859,1.05002043871,0.583920158655,0.00885604835478,1.04969215309
+303,5.050000000,pose2_to_pose3_retreat,0.612908149275,0.000181690710816,1.05002062992,0.583479298761,0.00885593453733,1.04969233852
+304,5.066666667,pose2_to_pose3_retreat,0.612444011357,0.000181760645012,1.05002045508,0.583015158155,0.00885599514357,1.04969215925
+305,5.083333333,pose2_to_pose3_retreat,0.611952397447,0.000181906612894,1.05002054033,0.58252354343,0.00885613812542,1.04969223886
+306,5.100000000,pose2_to_pose3_retreat,0.611436807533,0.000181840472146,1.05002061409,0.582007955084,0.00885607751543,1.04969231828
+307,5.116666667,pose2_to_pose3_retreat,0.610908126836,0.000181765137663,1.05002064782,0.581479275458,0.00885600594958,1.04969235551
+308,5.133333333,pose2_to_pose3_retreat,0.610368509354,0.000181764260967,1.05002069817,0.580939657708,0.00885600402209,1.0496924018
+309,5.150000000,pose2_to_pose3_retreat,0.609815786407,0.000181721552673,1.05002077953,0.580386934837,0.0088559615052,1.04969248071
+310,5.166666667,pose2_to_pose3_retreat,0.609247794717,0.00018178717126,1.05002053731,0.579818943438,0.00885602848765,1.04969224863
+311,5.183333333,pose2_to_pose3_retreat,0.608661602424,0.000181785431166,1.05002055238,0.579232749744,0.00885602168442,1.04969225544
+312,5.200000000,pose2_to_pose3_retreat,0.608051690855,0.000181717458478,1.05002046331,0.578622837998,0.00885595323629,1.04969216967
+313,5.216666667,pose2_to_pose3_retreat,0.607423383837,0.000181728494877,1.05002053093,0.57799453103,0.00885596429648,1.04969223346
+314,5.233333333,pose2_to_pose3_retreat,0.60678093043,0.000181790490658,1.05002059145,0.577352077468,0.00885602559488,1.04969228927
+315,5.250000000,pose2_to_pose3_retreat,0.60611900652,0.000181765616329,1.05002033917,0.576690153777,0.00885600200128,1.04969205117
+316,5.266666667,pose2_to_pose3_retreat,0.605431425088,0.000181843521351,1.05002083566,0.576002572252,0.0088560788842,1.04969252894
+317,5.283333333,pose2_to_pose3_retreat,0.604732093063,0.000181868655103,1.05002073094,0.575303240974,0.00885610655672,1.04969242431
+318,5.300000000,pose2_to_pose3_retreat,0.604023661538,0.000181693807648,1.05002050798,0.574594809881,0.00885593336676,1.04969220627
+319,5.316666667,pose2_to_pose3_retreat,0.603305121018,0.000181748725807,1.05002058169,0.573876269104,0.00885598754472,1.04969228339
+320,5.333333333,pose2_to_pose3_retreat,0.602587993338,0.000181846263243,1.05002054757,0.573159141134,0.00885608425204,1.04969225333
+321,5.350000000,pose2_to_pose3_retreat,0.601879004466,0.000181865119288,1.05002045246,0.572450152024,0.00885610235751,1.04969215962
+322,5.366666667,pose2_to_pose3_retreat,0.60116432468,0.000181824424287,1.05002053067,0.57173547234,0.00885606188355,1.04969223448
+323,5.383333333,pose2_to_pose3_retreat,0.600441804922,0.000181713523522,1.05002041051,0.57101295534,0.00885596056106,1.04969212014
+324,5.400000000,pose2_to_pose3_retreat,0.599701708387,0.000181775515855,1.05002033232,0.570272856158,0.00885601332762,1.04969203537
+325,5.416666667,pose2_to_pose3_retreat,0.59894795518,0.000181842955445,1.05002045504,0.569519101698,0.00885607670541,1.04969216301
+326,5.433333333,pose2_to_pose3_retreat,0.598195084809,0.000181902217987,1.05002059049,0.568766231173,0.0088561354782,1.04969229926
+327,5.450000000,pose2_to_pose3_retreat,0.597441423198,0.000181877569181,1.05002067041,0.568012570716,0.00885611451589,1.04969237313
+328,5.466666667,pose2_to_pose3_retreat,0.59668513221,0.000181803506438,1.05002065846,0.56725628027,0.00885604208862,1.04969235577
+329,5.483333333,pose2_to_pose3_retreat,0.595940168104,0.000181795209319,1.05002057581,0.566511314155,0.00885602711469,1.04969227673
+330,5.500000000,pose2_to_pose3_retreat,0.59520441475,0.000181813364897,1.05002063986,0.565775560759,0.00885604547685,1.04969234993
+331,5.516666667,pose2_to_pose3_retreat,0.594472990016,0.000181833125589,1.05002055168,0.565044137677,0.00885607077053,1.0496922598
+332,5.533333333,pose2_to_pose3_retreat,0.59374459559,0.000181906493433,1.05002043703,0.56431574238,0.00885614126613,1.04969214728
+333,5.550000000,pose2_to_pose3_retreat,0.593012388082,0.000181810877895,1.05002061265,0.563583536072,0.00885604948237,1.04969231652
+334,5.566666667,pose2_to_pose3_retreat,0.592280142111,0.000181679887962,1.05002070087,0.562851290835,0.00885592083096,1.04969240074
+335,5.583333333,pose2_to_pose3_retreat,0.591549952532,0.000181676250851,1.05002053825,0.562121100372,0.0088559143743,1.04969224283
+336,5.600000000,pose2_to_pose3_retreat,0.590826745065,0.000181729401065,1.05002054204,0.561397893954,0.00885597112571,1.04969224769
+337,5.616666667,pose2_to_pose3_retreat,0.590116862874,0.00018163907392,1.05002055682,0.560688011726,0.00885588052823,1.04969225865
+338,5.633333333,pose2_to_pose3_retreat,0.589433954695,0.000181739517708,1.05002052441,0.560005102519,0.00885597768934,1.04969223156
+339,5.650000000,pose2_to_pose3_retreat,0.588773315389,0.000181757905776,1.05002060291,0.559344462764,0.00885599458234,1.04969231086
+340,5.666666667,pose2_to_pose3_retreat,0.588131841439,0.000181803400769,1.05002060229,0.55870298857,0.00885603908981,1.049692306
+341,5.683333333,pose2_to_pose3_retreat,0.587499909524,0.000181865913757,1.05002064818,0.558071056515,0.00885610091997,1.04969234637
+342,5.700000000,pose2_to_pose3_retreat,0.586876228514,0.000181883318859,1.05002079441,0.557447375691,0.00885611892512,1.04969249171
+343,5.716666667,pose2_to_pose3_retreat,0.586246574513,0.000181787336261,1.0500206492,0.556817722847,0.00885602727317,1.04969235721
+344,5.733333333,pose2_to_pose3_retreat,0.58561723062,0.000181840772645,1.05002052315,0.556188377397,0.00885607555399,1.04969223454
+345,5.750000000,pose2_to_pose3_retreat,0.585005118532,0.000181821674933,1.05002055783,0.555576265571,0.00885605692731,1.04969225813
+346,5.766666667,pose2_to_pose3_retreat,0.58441439974,0.000181797101768,1.05002053382,0.5549855467,0.0088560322797,1.04969223927
+347,5.783333333,pose2_to_pose3_retreat,0.583849583786,0.000181763502601,1.05002050275,0.554420731251,0.00885600064952,1.04969221488
+348,5.800000000,pose2_to_pose3_retreat,0.583321692131,0.000181701510053,1.05002054396,0.553892840722,0.00885594248057,1.04969225627
+349,5.816666667,pose2_to_pose3_retreat,0.582825529441,0.00018165378257,1.05002064046,0.553396678834,0.00885589729239,1.04969234797
+350,5.833333333,pose2_to_pose3_retreat,0.582345159255,0.000181750797012,1.05002067236,0.552916307665,0.00885599075701,1.04969237417
+351,5.850000000,pose2_to_pose3_retreat,0.581875466413,0.000181692788771,1.05002044119,0.552446614588,0.00885593222792,1.0496921503
+352,5.866666667,pose2_to_pose3_retreat,0.581413666089,0.000181702266209,1.05002039558,0.551984813828,0.00885594031136,1.04969210688
+353,5.883333333,pose2_to_pose3_retreat,0.580966851197,0.000181839805465,1.05002040302,0.551537998585,0.00885607661656,1.04969211333
+354,5.900000000,pose2_to_pose3_retreat,0.580538986411,0.00018188303468,1.05002045431,0.551110134417,0.00885612191043,1.04969216377
+355,5.916666667,pose2_to_pose3_retreat,0.580133606566,0.00018174318496,1.05002047,0.550704755725,0.0088559859619,1.04969217908
+356,5.933333333,pose2_to_pose3_retreat,0.579749391731,0.000181661947707,1.05002031337,0.550320540664,0.00885590387433,1.04969202032
+357,5.950000000,pose2_to_pose3_retreat,0.579384595307,0.000181760746436,1.05002060485,0.549955743898,0.00885600173594,1.04969231771
+358,5.966666667,pose2_to_pose3_retreat,0.579033623872,0.000181700449032,1.05002045978,0.549604773743,0.00885594555086,1.04969216651
+359,5.983333333,pose2_to_pose3_retreat,0.578695339038,0.000181753976786,1.05002030402,0.549266487816,0.00885599560662,1.04969201702
+360,6.000000000,pose2_to_pose3_retreat,0.578378952109,0.00018179926548,1.05002043769,0.548950099819,0.00885603699918,1.04969214347
+361,6.016666667,pose2_to_pose3_retreat,0.578087952284,0.000181792269532,1.0500205466,0.548659099535,0.00885602827118,1.04969224786
+362,6.033333333,pose2_to_pose3_retreat,0.577824869647,0.000181803650055,1.05002044963,0.548396015958,0.00885603666057,1.04969215612
+363,6.050000000,pose2_to_pose3_retreat,0.577588375993,0.000181853547853,1.05002033798,0.548159521196,0.00885608296526,1.04969204891
+364,6.066666667,pose2_to_pose3_retreat,0.577379160634,0.000181784559695,1.05002062717,0.547950308449,0.00885602270399,1.04969233455
+365,6.083333333,pose2_to_pose3_retreat,0.577184951563,0.000181777291008,1.05002055626,0.547756099533,0.00885601595861,1.04969226354
+366,6.100000000,pose2_to_pose3_retreat,0.577002500813,0.000181733321202,1.0500205797,0.54757364924,0.00885597363397,1.04969228958
+367,6.116666667,pose2_to_pose3_retreat,0.576831918854,0.000181739691238,1.05002051213,0.547403066992,0.00885597904295,1.04969222252
+368,6.133333333,pose2_to_pose3_retreat,0.576672616212,0.000181835549402,1.0500203424,0.547243762721,0.00885606920192,1.04969204831
+369,6.150000000,pose2_to_pose3_retreat,0.576525727053,0.00018189464468,1.05002055856,0.547096872279,0.00885612373439,1.04969225889
+370,6.166666667,pose2_to_pose3_retreat,0.576391962799,0.000181825902287,1.05002051974,0.546963111271,0.00885606630147,1.04969222788
+371,6.183333333,pose2_to_pose3_retreat,0.57627314196,0.000181858309549,1.05002044485,0.546844289164,0.00885609426585,1.04969214942
+372,6.200000000,pose2_to_pose3_retreat,0.576169155886,0.000181905325459,1.05002050023,0.546740301253,0.00885613506019,1.0496922051
+373,6.216666667,pose2_to_pose3_retreat,0.576080151206,0.000181898681022,1.05002059572,0.546651296909,0.0088561295745,1.04969230141
+374,6.233333333,pose2_to_pose3_retreat,0.576003680295,0.00018187258902,1.05002065225,0.546574826929,0.00885610660964,1.04969235735
+375,6.250000000,pose2_to_pose3_retreat,0.575938062992,0.000181861346728,1.05002063533,0.54650920955,0.00885609508803,1.04969233981
+376,6.266666667,pose2_to_pose3_retreat,0.575881619472,0.000181806788038,1.05002053653,0.54645276705,0.00885604412583,1.04969224449
+377,6.283333333,pose2_to_pose3_retreat,0.57583257602,0.00018187824641,1.05002065512,0.54640372276,0.0088561125944,1.04969235915
+378,6.300000000,pose2_to_pose3_retreat,0.575791298206,0.000181763449419,1.05002046254,0.546362446819,0.00885600438024,1.04969217263
+379,6.316666667,pose2_to_pose3_retreat,0.575757453194,0.000181740344219,1.0500204203,0.546328601697,0.0088559806952,1.04969212491
+380,6.333333333,pose2_to_pose3_retreat,0.57573103637,0.000181717569473,1.05002069694,0.54630218564,0.0088559602622,1.04969239466
+381,6.350000000,pose2_to_pose3_retreat,0.575711454552,0.000181682733761,1.05002077781,0.546282603745,0.00885592534881,1.04969248033
+382,6.366666667,pose2_to_pose3_retreat,0.575697121367,0.000181698350194,1.05002044746,0.546268268299,0.00885593377998,1.04969216291
+383,6.383333333,pose2_to_pose3_retreat,0.575687150788,0.000181771148311,1.05002027366,0.546258298446,0.00885600911662,1.04969199116
+384,6.400000000,pose2_to_pose3_retreat,0.575679727945,0.000181835612437,1.0500204439,0.546250875037,0.00885607139095,1.04969215388
+385,6.416666667,pose2_to_pose3_retreat,0.57567427258,0.000181771750451,1.05002058903,0.546245420498,0.00885601025133,1.04969229705
+386,6.433333333,pose2_to_pose3_retreat,0.575671103615,0.000181690565966,1.05002060273,0.546242252292,0.00885593172161,1.0496923132
+387,6.450000000,pose2_to_pose3_retreat,0.575669854448,0.000181717539503,1.05002048396,0.546241001957,0.00885595481466,1.04969219651
+388,6.466666667,pose2_to_pose3_retreat,0.575669231171,0.000181730998051,1.0500204247,0.546240378098,0.00885596633703,1.04969213828
+389,6.483333333,pose2_to_pose3_retreat,0.575669089295,0.000181734061618,1.05002041121,0.546240236089,0.00885596895986,1.04969212503
+390,6.500000000,pose2_to_pose3_retreat,0.575668814909,0.000181739986477,1.05002038512,0.546239961448,0.00885597403236,1.0496920994
+391,6.516666667,pose2_to_pose3_retreat,0.575668805236,0.000181740195353,1.0500203842,0.546239951766,0.00885597421119,1.0496920985
+392,6.533333333,pose2_to_pose3_retreat,0.575668585696,0.000181731933215,1.05002036291,0.54623973243,0.0088559666569,1.04969207762
+393,6.550000000,pose2_to_pose3_retreat,0.575668329907,0.0001817097559,1.05002033771,0.546239477273,0.00885594664587,1.04969205296
+394,6.566666667,pose2_to_pose3_retreat,0.575668068904,0.000181687126533,1.05002031199,0.546239216916,0.00885592622695,1.04969202778
+395,6.583333333,pose2_to_pose3_retreat,0.575667958228,0.000181677530683,1.05002030108,0.546239106513,0.00885591756843,1.04969201711
+396,6.600000000,pose2_to_pose3_retreat,0.57566792017,0.00018167423103,1.05002029733,0.546239068549,0.00885591459108,1.04969201344
+397,6.616666667,pose2_to_pose3_retreat,0.575667915497,0.000181673825876,1.05002029687,0.546239063888,0.00885591422551,1.04969201299
+398,6.633333333,pose2_to_pose3_retreat,0.575667680011,0.000181653408863,1.05002027366,0.546238828984,0.00885589580283,1.04969199028
+399,6.650000000,pose2_to_pose3_retreat,0.575667300904,0.000181641344152,1.05002026363,0.546238450352,0.00885588536019,1.04969198054
+400,6.666666667,pose2_to_pose3_retreat,0.575667233567,0.000181651271015,1.05002027771,0.546238382831,0.00885589465354,1.04969199436
+401,6.683333333,pose2_to_pose3_retreat,0.575667163557,0.000181661591831,1.05002029234,0.54623831263,0.00885590431569,1.04969200874
+402,6.700000000,pose2_to_pose3_retreat,0.57566713979,0.000181665095672,1.05002029731,0.546238288797,0.00885590759592,1.04969201362
+403,6.716666667,pose2_to_pose3_retreat,0.57566713332,0.000181666049425,1.05002029866,0.54623828231,0.00885590848881,1.04969201495
+404,6.733333333,pose2_to_pose3_retreat,0.575667055036,0.000181677590056,1.05002031502,0.546238203812,0.00885591929293,1.04969203102
+405,6.750000000,pose2_to_pose3_retreat,0.575666909739,0.000181699009771,1.05002034539,0.546238058118,0.00885593934566,1.04969206086
+406,6.766666667,pose2_to_pose3_retreat,0.575666786913,0.000181712249454,1.05002036694,0.546237935838,0.00885595440818,1.04969208174
+407,6.783333333,pose2_to_pose3_retreat,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382

Part2/Obstacle_avoidance/cylinder_15A_10/position_01/depth_03/fem_node.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7536d156b9cca5232a84787840bf269fde0c820fe940397845778d6053a2af47
+size 25889922

Part2/Obstacle_avoidance/cylinder_15A_10/position_01/depth_03/simulation_data.csv

@@ -0,0 +1,410 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+1,0.016666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+2,0.033333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+3,0.050000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+4,0.066666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+5,0.083333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+6,0.100000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+7,0.116666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+8,0.133333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+9,0.150000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+10,0.166666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+11,0.183333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+12,0.200000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+13,0.216666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+14,0.233333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+15,0.250000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+16,0.266666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+17,0.283333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+18,0.300000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+19,0.316666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+20,0.333333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+21,0.350000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+22,0.366666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+23,0.383333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+24,0.400000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+25,0.416666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+26,0.433333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+27,0.450000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+28,0.466666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+29,0.483333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+30,0.500000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+31,0.516666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+32,0.533333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+33,0.550000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+34,0.566666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+35,0.583333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+36,0.600000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+37,0.616666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+38,0.633333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+39,0.650000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+40,0.666666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+41,0.683333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+42,0.700000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+43,0.716666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+44,0.733333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+45,0.750000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+46,0.766666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+47,0.783333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+48,0.800000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+49,0.816666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+50,0.833333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+51,0.850000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+52,0.866666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+53,0.883333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+54,0.900000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+55,0.916666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+56,0.933333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+57,0.950000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+58,0.966666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+59,0.983333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+60,1.000000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+61,1.016666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+62,1.033333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+63,1.050000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+64,1.066666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+65,1.083333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+66,1.100000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+67,1.116666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+68,1.133333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+69,1.150000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+70,1.166666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+71,1.183333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+72,1.200000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+73,1.216666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+74,1.233333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+75,1.250000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+76,1.266666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+77,1.283333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+78,1.300000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+79,1.316666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+80,1.333333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+81,1.350000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+82,1.366666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+83,1.383333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+84,1.400000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+85,1.416666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+86,1.433333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+87,1.450000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+88,1.466666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+89,1.483333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+90,1.500000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+91,1.516666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+92,1.533333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+93,1.550000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+94,1.566666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+95,1.583333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+96,1.600000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+97,1.616666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+98,1.633333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+99,1.650000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+100,1.666666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+101,1.683333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+102,1.700000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+103,1.716666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+104,1.733333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+105,1.750000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+106,1.766666667,pose1_to_pose2_press,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+107,1.783333333,pose1_to_pose2_press,0.575666998879,0.000181741387243,1.05002054537,0.546238147227,0.00885598102701,1.04969224533
+108,1.800000000,pose1_to_pose2_press,0.575667161568,0.000181737599321,1.05002056301,0.546238309431,0.0088559755783,1.04969226246
+109,1.816666667,pose1_to_pose2_press,0.575667343412,0.000181725451978,1.05002054776,0.546238490812,0.00885596195767,1.04969224988
+110,1.833333333,pose1_to_pose2_press,0.575667344062,0.000181725408543,1.0500205477,0.54623849146,0.00885596190896,1.04969224984
+111,1.850000000,pose1_to_pose2_press,0.575667547648,0.000181726381419,1.0500205256,0.546238694711,0.00885596182405,1.04969222986
+112,1.866666667,pose1_to_pose2_press,0.575667659126,0.000181732104037,1.05002051171,0.546238806071,0.00885596717815,1.04969221682
+113,1.883333333,pose1_to_pose2_press,0.575667733446,0.00018173591916,1.05002050245,0.546238880312,0.0088559707476,1.04969220813
+114,1.900000000,pose1_to_pose2_press,0.575668096318,0.000181754546839,1.05002045722,0.5462392428,0.00885598817574,1.0496921657
+115,1.916666667,pose1_to_pose2_press,0.575670834458,0.000181719008844,1.05002039139,0.546241982499,0.00885595806721,1.04969210352
+116,1.933333333,pose1_to_pose2_press,0.575677337178,0.000181781538679,1.05002042746,0.546248485063,0.00885601987402,1.04969213435
+117,1.950000000,pose1_to_pose2_press,0.575691993273,0.00018183572146,1.0500205224,0.546263139905,0.00885606987804,1.04969223111
+118,1.966666667,pose1_to_pose2_press,0.575715486275,0.000181702651175,1.05002041901,0.546286634966,0.00885594351062,1.04969212023
+119,1.983333333,pose1_to_pose2_press,0.575749170836,0.000181719964015,1.05002038719,0.546320318802,0.00885595862128,1.04969209505
+120,2.000000000,pose1_to_pose2_press,0.575792740915,0.000181724482475,1.05002046644,0.546363888933,0.00885596315744,1.04969217013
+121,2.016666667,pose1_to_pose2_press,0.57584710776,0.000181785422368,1.05002055681,0.546418255543,0.00885602313298,1.04969225601
+122,2.033333333,pose1_to_pose2_press,0.575909532039,0.000181755766433,1.05002069088,0.546480680732,0.00885599646443,1.0496923873
+123,2.050000000,pose1_to_pose2_press,0.575980474079,0.000181892767408,1.05002053769,0.54655162083,0.00885612725076,1.04969224395
+124,2.066666667,pose1_to_pose2_press,0.576061634936,0.0001816712766,1.05002053914,0.546632784952,0.00885591677319,1.04969224365
+125,2.083333333,pose1_to_pose2_press,0.576151821692,0.000181787968149,1.0500205167,0.546722970048,0.00885602809407,1.04969222802
+126,2.100000000,pose1_to_pose2_press,0.576250715465,0.000181780396261,1.05002062159,0.546821863866,0.00885602056414,1.04969233006
+127,2.116666667,pose1_to_pose2_press,0.576360928875,0.000181777727525,1.05002058654,0.546932076753,0.00885601599226,1.04969229162
+128,2.133333333,pose1_to_pose2_press,0.576484625316,0.000181763920894,1.05002046975,0.547055773829,0.00885600442053,1.04969217692
+129,2.150000000,pose1_to_pose2_press,0.576624370846,0.000181709606571,1.05002049308,0.547195519831,0.00885595182241,1.04969220321
+130,2.166666667,pose1_to_pose2_press,0.576780932076,0.000181650920731,1.05002059102,0.547352080729,0.00885589206073,1.04969230242
+131,2.183333333,pose1_to_pose2_press,0.576956734761,0.000181647775679,1.05002047019,0.547527883989,0.00885589098458,1.04969218465
+132,2.200000000,pose1_to_pose2_press,0.577148265964,0.00018168663426,1.05002040166,0.547719414353,0.0088559269097,1.04969211381
+133,2.216666667,pose1_to_pose2_press,0.577354395513,0.000181848766285,1.05002053828,0.54792554306,0.00885608594788,1.04969224413
+134,2.233333333,pose1_to_pose2_press,0.577575224631,0.000181770180457,1.05002051269,0.548146373644,0.00885601262009,1.04969222597
+135,2.250000000,pose1_to_pose2_press,0.577811919387,0.000181821898737,1.05002051406,0.548383067194,0.008856060211,1.04969222622
+136,2.266666667,pose1_to_pose2_press,0.578062468632,0.000181776049575,1.05002047618,0.548633616377,0.0088560138088,1.0496921793
+137,2.283333333,pose1_to_pose2_press,0.578328080054,0.000181802310383,1.05002048424,0.548899227697,0.00885603979689,1.04969218926
+138,2.300000000,pose1_to_pose2_press,0.578614135185,0.000181865583825,1.05002053127,0.549185281826,0.00885609974772,1.04969223835
+139,2.316666667,pose1_to_pose2_press,0.578922762033,0.000181838327849,1.05002055603,0.549493907863,0.00885606953373,1.04969225758
+140,2.333333333,pose1_to_pose2_press,0.5792580912,0.000181727797655,1.05002055008,0.549829238601,0.00885596451008,1.04969225624
+141,2.350000000,pose1_to_pose2_press,0.579627590321,0.000181753235626,1.05002064998,0.550198738808,0.00885599367716,1.04969235726
+142,2.366666667,pose1_to_pose2_press,0.580029976405,0.000181758632868,1.05002065842,0.550601124799,0.00885599864634,1.04969236274
+143,2.383333333,pose1_to_pose2_press,0.58045324825,0.000181707130219,1.050020772,0.55102439705,0.00885594861271,1.04969247858
+144,2.400000000,pose1_to_pose2_press,0.580889754655,0.000181766745322,1.05002067289,0.551460903344,0.00885600777544,1.04969237757
+145,2.416666667,pose1_to_pose2_press,0.581335499064,0.00018173727033,1.05002053908,0.551906648323,0.00885598043944,1.04969224909
+146,2.433333333,pose1_to_pose2_press,0.581790882385,0.00018170584637,1.05002054995,0.552362032195,0.00885595063364,1.04969225326
+147,2.450000000,pose1_to_pose2_press,0.582259784052,0.000181865257533,1.05002051851,0.552830931311,0.00885610164515,1.04969222852
+148,2.466666667,pose1_to_pose2_press,0.582757680679,0.000181830208257,1.05002057156,0.553328828115,0.00885606722299,1.04969228225
+149,2.483333333,pose1_to_pose2_press,0.583282838648,0.000181708041411,1.05002060605,0.553853987516,0.00885594973871,1.04969231206
+150,2.500000000,pose1_to_pose2_press,0.583828229599,0.00018175346064,1.05002054293,0.554399377715,0.00885599254838,1.04969224744
+151,2.516666667,pose1_to_pose2_press,0.584383400556,0.000181708103793,1.05002056969,0.554954549128,0.00885594849506,1.04969226775
+152,2.533333333,pose1_to_pose2_press,0.584942754441,0.000181603247366,1.05002056147,0.555513902703,0.00885584284647,1.04969226638
+153,2.550000000,pose1_to_pose2_press,0.58551584333,0.000181763161123,1.050020791,0.556086993162,0.00885600801118,1.04969249389
+154,2.566666667,pose1_to_pose2_press,0.586109092233,0.000181735752843,1.0500207807,0.556680241504,0.00885597881667,1.04969248666
+155,2.583333333,pose1_to_pose2_press,0.586736791637,0.000181855993371,1.05002051831,0.557307938687,0.00885609144036,1.04969222212
+156,2.600000000,pose1_to_pose2_press,0.58739543238,0.000181907221811,1.05002058594,0.557966578582,0.0088561398552,1.04969229138
+157,2.616666667,pose1_to_pose2_press,0.588076460611,0.000181744357737,1.05002040594,0.558647608328,0.00885598242625,1.04969211926
+158,2.633333333,pose1_to_pose2_press,0.588764710218,0.000181673197803,1.0500203262,0.559335858975,0.00885591482073,1.04969204021
+159,2.650000000,pose1_to_pose2_press,0.589456838014,0.000181718845972,1.05002045971,0.560027986614,0.00885595972074,1.04969216804
+160,2.666666667,pose1_to_pose2_press,0.590142551201,0.000181756521531,1.05002055183,0.560713699225,0.00885599521406,1.04969225404
+161,2.683333333,pose1_to_pose2_press,0.590825872378,0.000181796380435,1.05002056346,0.561397019858,0.00885603307901,1.04969226182
+162,2.700000000,pose1_to_pose2_press,0.59151766159,0.00018182097473,1.05002054487,0.562088809484,0.00885605923572,1.04969224746
+163,2.716666667,pose1_to_pose2_press,0.592222115889,0.000181687887777,1.05002055255,0.562793265707,0.00885593267927,1.04969225522
+164,2.733333333,pose1_to_pose2_press,0.592949160041,0.000181641794388,1.05002042899,0.563520308115,0.00885588078405,1.04969213474
+165,2.750000000,pose1_to_pose2_press,0.593696435099,0.000181728920179,1.05002051113,0.564267584157,0.00885597126417,1.04969221727
+166,2.766666667,pose1_to_pose2_press,0.594462334547,0.00018180305056,1.05002054324,0.565033483355,0.00885604447784,1.04969224771
+167,2.783333333,pose1_to_pose2_press,0.595241698987,0.000181892527232,1.05002050747,0.565812846185,0.00885612880401,1.04969222013
+168,2.800000000,pose1_to_pose2_press,0.596024755599,0.000181861323008,1.05002050711,0.566595903441,0.00885609978133,1.04969221978
+169,2.816666667,pose1_to_pose2_press,0.596794488518,0.000181752867379,1.05002058464,0.567365637521,0.00885599510211,1.04969229303
+170,2.833333333,pose1_to_pose2_press,0.597550053427,0.00018172779106,1.05002065308,0.568121202606,0.00885597052574,1.04969235892
+171,2.850000000,pose1_to_pose2_press,0.598289313817,0.000181725406922,1.05002053704,0.568860462929,0.00885596799394,1.04969224504
+172,2.866666667,pose1_to_pose2_press,0.599031343565,0.000181656849901,1.05002025746,0.569602492199,0.00885589803273,1.0496919712
+173,2.883333333,pose1_to_pose2_press,0.599780764805,0.000181832987936,1.05002035353,0.570351911387,0.00885606666467,1.04969205296
+174,2.900000000,pose1_to_pose2_press,0.600537173499,0.000181640298822,1.05002064201,0.571108323998,0.00885588756365,1.04969234947
+175,2.916666667,pose1_to_pose2_press,0.601301420457,0.000181771589805,1.05002031267,0.57187256813,0.00885600928309,1.04969202057
+176,2.933333333,pose1_to_pose2_press,0.602070722278,0.000181777142017,1.05002036078,0.572641871263,0.00885601943971,1.04969207288
+177,2.950000000,pose1_to_pose2_press,0.602824793717,0.000181709455525,1.05002049644,0.573395941767,0.00885594843554,1.04969220466
+178,2.966666667,pose1_to_pose2_press,0.603558219855,0.000181791050562,1.0500204817,0.574129366803,0.00885602594673,1.04969218092
+179,2.983333333,pose1_to_pose2_press,0.604268040621,0.000181849550508,1.05002056858,0.57483918693,0.00885608237482,1.04969227042
+180,3.000000000,pose1_to_pose2_press,0.604959194196,0.000181810114379,1.0500206731,0.575530341322,0.00885604570766,1.04969237483
+181,3.016666667,pose1_to_pose2_press,0.605647812628,0.000181785935835,1.05002063917,0.576218960537,0.0088560241345,1.04969233971
+182,3.033333333,pose1_to_pose2_press,0.60633840234,0.000181841131964,1.05002055697,0.576909549783,0.00885607805012,1.04969226545
+183,3.050000000,pose1_to_pose2_press,0.607033671516,0.000181786933269,1.05002068535,0.577604820809,0.00885602977197,1.04969238447
+184,3.066666667,pose1_to_pose2_press,0.607724367217,0.000181844716729,1.0500206936,0.578295514222,0.00885607972796,1.04969239101
+185,3.083333333,pose1_to_pose2_press,0.608403249933,0.000181856718346,1.05002067479,0.578974396847,0.00885609153634,1.04969237539
+186,3.100000000,pose1_to_pose2_press,0.609050719387,0.000181649955649,1.05002055614,0.579621868161,0.00885589114748,1.04969225848
+187,3.116666667,pose1_to_pose2_press,0.60966702176,0.000181807286996,1.05002065877,0.580238167199,0.00885603708467,1.04969235911
+188,3.133333333,pose1_to_pose2_press,0.610252925176,0.00018184102961,1.05002064526,0.580824072246,0.00885607656031,1.04969235094
+189,3.150000000,pose1_to_pose2_press,0.610817763649,0.000181747352632,1.05002045132,0.581388912258,0.00885598799178,1.04969215401
+190,3.166666667,pose1_to_pose2_press,0.611361858624,0.000181771161879,1.05002042775,0.581933006661,0.00885600974713,1.04969212747
+191,3.183333333,pose1_to_pose2_press,0.611893870707,0.000181828648632,1.05002053858,0.582465018153,0.00885606541635,1.0496922434
+192,3.200000000,pose1_to_pose2_press,0.612413067192,0.000181701277282,1.05002054808,0.582984216468,0.00885594453015,1.04969226013
+193,3.216666667,pose1_to_pose2_press,0.612918436578,0.000181693599219,1.05002079113,0.583489587017,0.00885594046273,1.04969249344
+194,3.233333333,pose1_to_pose2_press,0.613413275179,0.000181650862032,1.05002068802,0.583984425097,0.00885589592887,1.04969238648
+195,3.250000000,pose1_to_pose2_press,0.61389619984,0.000181869559213,1.05002041791,0.584467346365,0.00885610382948,1.04969213052
+196,3.266666667,pose1_to_pose2_press,0.614357878395,0.000181818872899,1.05002050387,0.58492902445,0.00885605174192,1.04969221195
+197,3.283333333,pose1_to_pose2_press,0.614793900978,0.000181789227811,1.05002035688,0.58536504762,0.00885602450012,1.04969206747
+198,3.300000000,pose1_to_pose2_press,0.615200721159,0.000181753874052,1.05002040283,0.585771868065,0.00885599036024,1.04969211382
+199,3.316666667,pose1_to_pose2_press,0.615581832151,0.000181777837722,1.05002056999,0.586152979322,0.00885601554603,1.04969228048
+200,3.333333333,pose1_to_pose2_press,0.615942886581,0.000181817353501,1.05002058034,0.586514033851,0.00885605589826,1.04969229138
+201,3.350000000,pose1_to_pose2_press,0.616293426379,0.000181686324022,1.0500203894,0.586864572529,0.00885592160825,1.04969209664
+202,3.366666667,pose1_to_pose2_press,0.616636377897,0.000181764510276,1.0500202681,0.587207523983,0.00885599992706,1.0496919797
+203,3.383333333,pose1_to_pose2_press,0.616966241308,0.000181877022521,1.05002072128,0.587537388163,0.0088561151768,1.04969243395
+204,3.400000000,pose1_to_pose2_press,0.617280111387,0.000181796943274,1.05002057092,0.587851257603,0.00885603310901,1.04969227633
+205,3.416666667,pose1_to_pose2_press,0.617569890089,0.000181836010827,1.05002058438,0.588141036355,0.00885607324861,1.04969230079
+206,3.433333333,pose1_to_pose2_press,0.617834430227,0.000181812849506,1.05002063221,0.588405576622,0.00885605046454,1.04969234329
+207,3.450000000,pose1_to_pose2_press,0.61806978811,0.000181721409196,1.05002059575,0.588640934982,0.00885596061488,1.04969229957
+208,3.466666667,pose1_to_pose2_press,0.618283704533,0.000181720071775,1.05002049985,0.58885485114,0.00885595857111,1.04969220232
+209,3.483333333,pose1_to_pose2_press,0.618478227263,0.000181787582465,1.05002044861,0.589049373257,0.0088560243481,1.04969215524
+210,3.500000000,pose1_to_pose2_press,0.618659077738,0.000181811897629,1.05002049975,0.589230223734,0.00885604915069,1.04969221234
+211,3.516666667,pose1_to_pose2_press,0.618827780522,0.000181869434525,1.05002048834,0.589398925681,0.00885610406978,1.04969220159
+212,3.533333333,pose1_to_pose2_press,0.618987069784,0.000181867790009,1.05002063394,0.589558214024,0.00885609934283,1.04969234095
+213,3.550000000,pose1_to_pose2_press,0.619135010871,0.00018188490982,1.05002055435,0.589706157239,0.00885612371678,1.04969226248
+214,3.566666667,pose1_to_pose2_press,0.61926821238,0.000181853955033,1.05002051241,0.589839357949,0.00885609017277,1.04969222317
+215,3.583333333,pose1_to_pose2_press,0.61938703091,0.000181795173883,1.05002052942,0.589958176578,0.00885603172871,1.04969223762
+216,3.600000000,pose1_to_pose2_press,0.619490884144,0.000181898106332,1.05002063243,0.590062029329,0.00885613294137,1.04969233576
+217,3.616666667,pose1_to_pose2_press,0.619578090957,0.000181753272952,1.0500205409,0.590149238274,0.00885599535083,1.04969224213
+218,3.633333333,pose1_to_pose2_press,0.619651379638,0.000181668952303,1.05002047237,0.590222527543,0.00885591341409,1.04969217708
+219,3.650000000,pose1_to_pose2_press,0.619713537854,0.000181811096656,1.05002052836,0.590284683149,0.00885604721253,1.04969223693
+220,3.666666667,pose1_to_pose2_press,0.619766607933,0.000181887615212,1.05002056324,0.59033775156,0.00885611815073,1.04969226897
+221,3.683333333,pose1_to_pose2_press,0.61981084567,0.000181684679732,1.05002067025,0.590381992674,0.00885592633964,1.04969237043
+222,3.700000000,pose1_to_pose2_press,0.619848758053,0.00018172932997,1.05002037089,0.590419904797,0.00885596975694,1.04969207016
+223,3.716666667,pose1_to_pose2_press,0.619880383917,0.000181702540087,1.05002057944,0.590451531216,0.0088559450359,1.0496922803
+224,3.733333333,pose1_to_pose2_press,0.619905620943,0.000181877035367,1.05002067399,0.590476765465,0.00885611001129,1.0496923754
+225,3.750000000,pose1_to_pose2_press,0.61992515654,0.000181873586834,1.0500206539,0.590496301697,0.00885610886729,1.04969236107
+226,3.766666667,pose1_to_pose2_press,0.619939090488,0.000181786834994,1.0500206102,0.590510237592,0.00885602883499,1.04969231891
+227,3.783333333,pose1_to_pose2_press,0.619949240098,0.000181842021456,1.0500205628,0.590520386269,0.00885608053176,1.04969226158
+228,3.800000000,pose1_to_pose2_press,0.619956190147,0.000181875062987,1.05002063013,0.590527335018,0.00885610928166,1.04969233351
+229,3.816666667,pose1_to_pose2_press,0.619960804926,0.000181886409016,1.05002065694,0.590531949657,0.00885612023265,1.04969236182
+230,3.833333333,pose1_to_pose2_press,0.619963585441,0.000181884464901,1.05002065826,0.590534730686,0.00885612008501,1.04969236274
+231,3.850000000,pose1_to_pose2_press,0.619965400513,0.000181868592017,1.05002066379,0.590536546288,0.00885610599922,1.04969236723
+232,3.866666667,pose1_to_pose2_press,0.619966507054,0.000181820403478,1.05002067948,0.590537653663,0.00885606052036,1.04969238019
+233,3.883333333,pose1_to_pose2_press,0.61996712042,0.000181793692101,1.05002068818,0.590538267492,0.00885603531098,1.04969238737
+234,3.900000000,pose1_to_pose2_press,0.619967867127,0.000181761173921,1.05002069878,0.590539014761,0.00885600462133,1.04969239612
+235,3.916666667,pose1_to_pose2_press,0.619968828714,0.000181719297899,1.05002071242,0.590539977073,0.00885596510003,1.04969240738
+236,3.933333333,pose1_to_pose2_press,0.619969827679,0.000181784576305,1.05002061672,0.590540973875,0.00885602327613,1.04969231826
+237,3.950000000,pose1_to_pose2_press,0.619970762331,0.000181848664446,1.05002051877,0.590541906529,0.00885608080863,1.0496922264
+238,3.966666667,pose1_to_pose2_press,0.619971174181,0.000181893622429,1.05002040375,0.590542318145,0.00885612503295,1.04969211231
+239,3.983333333,pose1_to_pose2_press,0.619971381988,0.000181916306937,1.05002034571,0.590542525834,0.00885614734727,1.04969205474
+240,4.000000000,pose1_to_pose2_press,0.619971584309,0.000181938392498,1.0500202892,0.59054272804,0.00885616907241,1.04969199869
+241,4.016666667,pose1_to_pose2_press,0.619971638673,0.000181936082702,1.05002028911,0.590542782453,0.0088561669214,1.04969199848
+242,4.033333333,pose1_to_pose2_press,0.619971798023,0.000181889256713,1.05002036215,0.590542942328,0.00885612180281,1.04969206997
+243,4.050000000,pose1_to_pose2_press,0.619971801774,0.000181888154389,1.05002036387,0.590542946092,0.00885612074068,1.04969207165
+244,4.066666667,pose1_to_pose2_press,0.619971832752,0.000181879051362,1.05002037807,0.590542977172,0.00885611196957,1.04969208555
+245,4.083333333,pose1_to_pose2_press,0.619971854584,0.000181822006861,1.05002042588,0.590543000211,0.00885605883679,1.04969212826
+246,4.100000000,pose2_hold,0.619971854584,0.000181822006861,1.05002042588,0.590543000215,0.00885605883691,1.04969212825
+247,4.116666667,pose2_hold,0.619971854584,0.000181822006861,1.05002042588,0.590543000215,0.00885605883672,1.04969212825
+248,4.133333333,pose2_hold,0.619971854584,0.000181822006861,1.05002042588,0.590543000215,0.00885605883666,1.04969212825
+249,4.150000000,pose2_hold,0.619971854584,0.000181822006861,1.05002042588,0.590543000215,0.00885605883657,1.04969212825
+250,4.166666667,pose2_hold,0.619971854584,0.000181822006861,1.05002042588,0.590543000216,0.00885605883649,1.04969212825
+251,4.183333333,pose2_hold,0.619971854584,0.000181822006861,1.05002042588,0.590543000216,0.00885605883643,1.04969212825
+252,4.200000000,pose2_hold,0.619971854584,0.000181822006861,1.05002042588,0.590543000215,0.00885605883753,1.04969212825
+253,4.216666667,pose2_hold,0.619971854584,0.000181822006861,1.05002042588,0.590543000216,0.00885605883665,1.04969212825
+254,4.233333333,pose2_hold,0.619971854584,0.000181822006861,1.05002042588,0.590543000216,0.00885605883657,1.04969212825
+255,4.250000000,pose2_hold,0.619971854584,0.000181822006861,1.05002042588,0.590543000216,0.0088560588365,1.04969212825
+256,4.266666667,pose2_hold,0.619971854584,0.000181822006861,1.05002042588,0.590543000216,0.00885605883682,1.04969212825
+257,4.283333333,pose2_hold,0.619971854584,0.000181822006861,1.05002042588,0.590543000217,0.00885605883639,1.04969212825
+258,4.300000000,pose2_hold,0.619971854584,0.000181822006861,1.05002042588,0.590543000216,0.0088560588368,1.04969212825
+259,4.316666667,pose2_hold,0.619971854584,0.000181822006861,1.05002042588,0.590543000217,0.00885605883624,1.04969212825
+260,4.333333333,pose2_hold,0.619971854584,0.000181822006861,1.05002042588,0.590543000216,0.00885605883676,1.04969212825
+261,4.350000000,pose2_hold,0.619971854584,0.000181822006861,1.05002042588,0.590543000217,0.00885605883615,1.04969212825
+262,4.366666667,pose2_hold,0.619971854584,0.000181822006861,1.05002042588,0.590543000217,0.00885605883672,1.04969212825
+263,4.383333333,pose2_hold,0.619971854584,0.000181822006861,1.05002042588,0.590543000218,0.00885605883602,1.04969212825
+264,4.400000000,pose2_to_pose3_retreat,0.619971854584,0.000181822006861,1.05002042588,0.590543000218,0.0088560588357,1.04969212825
+265,4.416666667,pose2_to_pose3_retreat,0.619971835209,0.000181835457086,1.05002033174,0.590542980868,0.00885607255254,1.04969203869
+266,4.433333333,pose2_to_pose3_retreat,0.619971812589,0.000181851159931,1.05002022183,0.590542958277,0.00885608856665,1.04969193413
+267,4.450000000,pose2_to_pose3_retreat,0.619971768051,0.000181832650935,1.05002018242,0.590542914172,0.00885607162152,1.04969189704
+268,4.466666667,pose2_to_pose3_retreat,0.619971722718,0.00018177633918,1.05002027649,0.590542869566,0.00885601762249,1.04969198724
+269,4.483333333,pose2_to_pose3_retreat,0.619971661876,0.000181700761099,1.05002040275,0.590542809699,0.0088559451484,1.04969210832
+270,4.500000000,pose2_to_pose3_retreat,0.619971271189,0.000181642076955,1.05002059429,0.59054241949,0.00885588786513,1.04969229397
+271,4.516666667,pose2_to_pose3_retreat,0.61997008006,0.000181761674649,1.05002068405,0.590541226132,0.00885600002634,1.04969238625
+272,4.533333333,pose2_to_pose3_retreat,0.619967432987,0.0001817795259,1.05002079406,0.590538579816,0.00885602039036,1.04969249514
+273,4.550000000,pose2_to_pose3_retreat,0.619960403738,0.000181732081806,1.05002082573,0.590531550111,0.00885597109548,1.04969251869
+274,4.566666667,pose2_to_pose3_retreat,0.61994696651,0.000181769351258,1.05002066711,0.590518112939,0.00885600866043,1.04969236276
+275,4.583333333,pose2_to_pose3_retreat,0.619924846805,0.000181596144112,1.05002067604,0.590495994488,0.00885583940297,1.04969237527
+276,4.600000000,pose2_to_pose3_retreat,0.619893514315,0.000181791581795,1.05002061549,0.590464661802,0.0088560349412,1.04969232667
+277,4.616666667,pose2_to_pose3_retreat,0.619852056898,0.000181724622414,1.0500204747,0.590423203796,0.00885596584655,1.04969218286
+278,4.633333333,pose2_to_pose3_retreat,0.619802580127,0.000181772858982,1.0500205083,0.59037372606,0.00885601074647,1.04969221425
+279,4.650000000,pose2_to_pose3_retreat,0.619745616577,0.000181707541937,1.05002056171,0.590316763584,0.00885594887452,1.04969226764
+280,4.666666667,pose2_to_pose3_retreat,0.619681113914,0.000181658487742,1.0500204382,0.590252261455,0.00885590122136,1.04969213973
+281,4.683333333,pose2_to_pose3_retreat,0.619608499987,0.000181779250259,1.05002044602,0.590179645887,0.00885601659192,1.0496921504
+282,4.700000000,pose2_to_pose3_retreat,0.619525354631,0.000181778914071,1.05002053845,0.59009650201,0.00885602126303,1.04969224443
+283,4.716666667,pose2_to_pose3_retreat,0.619431525645,0.000181833969574,1.05002053729,0.590002669934,0.00885606571473,1.04969224332
+284,4.733333333,pose2_to_pose3_retreat,0.619324449653,0.0001817841758,1.05002061981,0.589895595019,0.00885601949118,1.04969232663
+285,4.750000000,pose2_to_pose3_retreat,0.619204709276,0.000181711334496,1.05002061895,0.589775855815,0.00885595021588,1.04969231774
+286,4.766666667,pose2_to_pose3_retreat,0.619071469635,0.000181652007823,1.05002050636,0.589642617334,0.00885589475599,1.04969220714
+287,4.783333333,pose2_to_pose3_retreat,0.618920882325,0.000181648439539,1.05002039372,0.589492030731,0.00885589370561,1.04969210293
+288,4.800000000,pose2_to_pose3_retreat,0.618752868808,0.000181746491631,1.0500204143,0.58932401633,0.00885598841468,1.04969211997
+289,4.816666667,pose2_to_pose3_retreat,0.618568512248,0.000181938901697,1.0500204163,0.589139657496,0.00885617300431,1.04969212402
+290,4.833333333,pose2_to_pose3_retreat,0.618369781463,0.000181801396445,1.05002065323,0.588940929554,0.00885604457216,1.04969235264
+291,4.850000000,pose2_to_pose3_retreat,0.618157429562,0.000181839810498,1.05002038712,0.588728576646,0.00885607973097,1.04969209772
+292,4.866666667,pose2_to_pose3_retreat,0.617932853976,0.000181811311796,1.05002044619,0.588504000896,0.00885605052962,1.04969215939
+293,4.883333333,pose2_to_pose3_retreat,0.6176947644,0.000181773194433,1.05002060227,0.588265911667,0.00885601316574,1.0496923111
+294,4.900000000,pose2_to_pose3_retreat,0.617435161495,0.00018179595482,1.05002052438,0.588006308461,0.00885603449524,1.04969223001
+295,4.916666667,pose2_to_pose3_retreat,0.617152982928,0.000181745632354,1.05002041517,0.587724129444,0.00885598246999,1.04969212276
+296,4.933333333,pose2_to_pose3_retreat,0.616844223708,0.000181724224078,1.05002051068,0.587415372991,0.00885596997844,1.04969221638
+297,4.950000000,pose2_to_pose3_retreat,0.6165123142,0.000181774644304,1.0500204172,0.587083462861,0.00885601832749,1.04969213294
+298,4.966666667,pose2_to_pose3_retreat,0.616156544499,0.000181780712537,1.05002060746,0.586727692225,0.00885602063084,1.04969231573
+299,4.983333333,pose2_to_pose3_retreat,0.615780738329,0.00018179254491,1.05002060881,0.586351885641,0.00885603077917,1.04969231821
+300,5.000000000,pose2_to_pose3_retreat,0.615384764124,0.000181796679504,1.05002038679,0.585955911715,0.00885603591537,1.04969210733
+301,5.016666667,pose2_to_pose3_retreat,0.614969112702,0.000181707375483,1.05002052669,0.585540261556,0.0088559500607,1.04969223501
+302,5.033333333,pose2_to_pose3_retreat,0.614537571949,0.000181692876723,1.05002054995,0.585108721682,0.00885593813536,1.04969225339
+303,5.050000000,pose2_to_pose3_retreat,0.614094394028,0.000181699748438,1.05002057336,0.584665544677,0.00885594758398,1.04969227164
+304,5.066666667,pose2_to_pose3_retreat,0.613638607216,0.000181783821385,1.0500205364,0.584209756744,0.00885602786191,1.04969224259
+305,5.083333333,pose2_to_pose3_retreat,0.613167078498,0.000181881108741,1.05002046364,0.583738226345,0.00885611934307,1.04969217325
+306,5.100000000,pose2_to_pose3_retreat,0.612671001062,0.000181904785357,1.05002054013,0.58324214817,0.00885614011252,1.04969224526
+307,5.116666667,pose2_to_pose3_retreat,0.612149418594,0.000181818135664,1.0500207457,0.582720566829,0.00885605674453,1.04969244406
+308,5.133333333,pose2_to_pose3_retreat,0.611604248333,0.000181744990342,1.05002045177,0.58217539857,0.00885599009393,1.0496921523
+309,5.150000000,pose2_to_pose3_retreat,0.611043572954,0.000181739806695,1.05002063937,0.581614721866,0.00885597981292,1.04969234362
+310,5.166666667,pose2_to_pose3_retreat,0.610472695147,0.00018185828593,1.05002054608,0.581043842474,0.00885609434051,1.04969225759
+311,5.183333333,pose2_to_pose3_retreat,0.609891923942,0.000181763319084,1.05002038629,0.580463072237,0.00885600305505,1.04969209498
+312,5.200000000,pose2_to_pose3_retreat,0.609297534451,0.000181688092662,1.05002044395,0.579868683441,0.00885592991806,1.04969214533
+313,5.216666667,pose2_to_pose3_retreat,0.608682109366,0.000181745321084,1.05002065344,0.579253257247,0.00885598333048,1.04969235332
+314,5.233333333,pose2_to_pose3_retreat,0.608045143507,0.000181696067493,1.05002049641,0.578616290785,0.00885593249511,1.04969220771
+315,5.250000000,pose2_to_pose3_retreat,0.607386005513,0.000181669627382,1.05002039592,0.57795715359,0.00885590871865,1.04969210674
+316,5.266666667,pose2_to_pose3_retreat,0.606707028321,0.000181646477938,1.05002058907,0.577278176821,0.00885588689431,1.04969229707
+317,5.283333333,pose2_to_pose3_retreat,0.606004877389,0.000181839071376,1.05002042551,0.57657602339,0.00885607085824,1.04969212955
+318,5.300000000,pose2_to_pose3_retreat,0.60529306581,0.000181875077547,1.05002041133,0.575864212198,0.0088561083364,1.04969211947
+319,5.316666667,pose2_to_pose3_retreat,0.604572670551,0.000181815986398,1.05002051641,0.575143817956,0.00885605276491,1.04969222594
+320,5.333333333,pose2_to_pose3_retreat,0.603841109239,0.000181778031217,1.05002056415,0.574412256554,0.0088560144069,1.04969227033
+321,5.350000000,pose2_to_pose3_retreat,0.60310690187,0.000181700824786,1.05002055387,0.573678050756,0.00885594272409,1.04969226504
+322,5.366666667,pose2_to_pose3_retreat,0.602374578685,0.000181811468022,1.05002015759,0.572945726977,0.00885605128663,1.04969186701
+323,5.383333333,pose2_to_pose3_retreat,0.601639465588,0.000181730958286,1.05002049165,0.572210614825,0.00885597382151,1.04969219679
+324,5.400000000,pose2_to_pose3_retreat,0.600902195449,0.000181770193335,1.05002053307,0.571473343331,0.00885600845992,1.04969223809
+325,5.416666667,pose2_to_pose3_retreat,0.600149960944,0.000181809850171,1.05002061691,0.570721108548,0.00885604702991,1.04969231805
+326,5.433333333,pose2_to_pose3_retreat,0.599386153044,0.000181841402512,1.05002057724,0.56995730066,0.00885607862539,1.04969227839
+327,5.450000000,pose2_to_pose3_retreat,0.5986209447,0.000181844777629,1.05002044806,0.56919209199,0.00885608110131,1.04969215471
+328,5.466666667,pose2_to_pose3_retreat,0.597851673699,0.000181774219291,1.0500205085,0.568422821627,0.00885601276377,1.04969221652
+329,5.483333333,pose2_to_pose3_retreat,0.597077967338,0.00018169587959,1.05002042741,0.567649117258,0.00885594107783,1.04969213265
+330,5.500000000,pose2_to_pose3_retreat,0.596315978024,0.000181644010193,1.05002061883,0.566887126234,0.00885588344937,1.04969232515
+331,5.516666667,pose2_to_pose3_retreat,0.595564625517,0.000181778200636,1.05002063401,0.566135773189,0.00885601601678,1.04969234559
+332,5.533333333,pose2_to_pose3_retreat,0.594824441438,0.000181707687659,1.05002058697,0.565395589919,0.00885594804147,1.04969229309
+333,5.550000000,pose2_to_pose3_retreat,0.594088812753,0.000181723538187,1.05002055668,0.564659960772,0.00885596213623,1.04969225772
+334,5.566666667,pose2_to_pose3_retreat,0.593345688924,0.000181866353533,1.05002059423,0.563916836084,0.00885610202482,1.04969229496
+335,5.583333333,pose2_to_pose3_retreat,0.592599302887,0.000181887525127,1.05002064544,0.563170451395,0.00885612775773,1.04969234574
+336,5.600000000,pose2_to_pose3_retreat,0.591852161899,0.000181851932637,1.05002043767,0.562423309601,0.0088560895241,1.04969214044
+337,5.616666667,pose2_to_pose3_retreat,0.591111767939,0.000181692518878,1.05002052364,0.561682915517,0.00885592981913,1.04969222981
+338,5.633333333,pose2_to_pose3_retreat,0.590385681717,0.000181689122982,1.05002052756,0.560956830078,0.00885592915001,1.04969223554
+339,5.650000000,pose2_to_pose3_retreat,0.589689207689,0.000181732446865,1.05002045524,0.560260355918,0.00885597196115,1.04969216147
+340,5.666666667,pose2_to_pose3_retreat,0.589016818919,0.000181725569253,1.05002052708,0.559587966937,0.00885596440693,1.04969223431
+341,5.683333333,pose2_to_pose3_retreat,0.588363819389,0.000181715969225,1.05002062494,0.558934967608,0.00885595537201,1.04969232909
+342,5.700000000,pose2_to_pose3_retreat,0.587719718788,0.000181764123138,1.05002057497,0.558290867353,0.00885600443313,1.04969227204
+343,5.716666667,pose2_to_pose3_retreat,0.587083601107,0.000181800801814,1.05002047748,0.557654748859,0.00885603917725,1.04969219627
+344,5.733333333,pose2_to_pose3_retreat,0.586445287639,0.000181796932365,1.05002054964,0.557016435719,0.00885603580148,1.04969225204
+345,5.750000000,pose2_to_pose3_retreat,0.585810151157,0.000181787897246,1.05002053659,0.556381300667,0.00885603177982,1.04969224328
+346,5.766666667,pose2_to_pose3_retreat,0.585192293095,0.000181767072908,1.05002055246,0.555763441587,0.00885600736473,1.04969225562
+347,5.783333333,pose2_to_pose3_retreat,0.584594354952,0.00018171339311,1.05002055435,0.555165503002,0.00885595216614,1.04969225689
+348,5.800000000,pose2_to_pose3_retreat,0.584020870488,0.000181753146389,1.05002053959,0.554592017783,0.00885598948524,1.04969224546
+349,5.816666667,pose2_to_pose3_retreat,0.583480794464,0.000181848757913,1.05002048036,0.554051940306,0.00885608019863,1.04969218707
+350,5.833333333,pose2_to_pose3_retreat,0.582970411055,0.000181709757562,1.05002030254,0.553541558744,0.00885594746362,1.04969200924
+351,5.850000000,pose2_to_pose3_retreat,0.582478220891,0.000181787205591,1.05002062534,0.55304936744,0.00885602089663,1.04969232819
+352,5.866666667,pose2_to_pose3_retreat,0.582000062516,0.000181817761288,1.05002069757,0.552571209297,0.00885605198495,1.04969239371
+353,5.883333333,pose2_to_pose3_retreat,0.58153430439,0.000181813281922,1.05002067956,0.552105452397,0.00885605184863,1.04969238054
+354,5.900000000,pose2_to_pose3_retreat,0.581082925551,0.000181815955768,1.05002059912,0.551654074392,0.00885605766717,1.04969230832
+355,5.916666667,pose2_to_pose3_retreat,0.580647781644,0.000181828526143,1.0500205133,0.551218929737,0.00885606782507,1.0496922259
+356,5.933333333,pose2_to_pose3_retreat,0.580235029629,0.000181807894295,1.050020519,0.55080617595,0.00885604107121,1.04969222865
+357,5.950000000,pose2_to_pose3_retreat,0.579843269841,0.000181758284982,1.05002059816,0.550414417235,0.00885599440297,1.04969228932
+358,5.966666667,pose2_to_pose3_retreat,0.579469915645,0.00018178557979,1.05002056535,0.550041063127,0.0088560222418,1.04969226352
+359,5.983333333,pose2_to_pose3_retreat,0.579112480853,0.00018176505375,1.05002066062,0.549683628546,0.00885600236825,1.0496923572
+360,6.000000000,pose2_to_pose3_retreat,0.578773213743,0.000181704272239,1.05002070981,0.549344361913,0.00885594306866,1.04969240272
+361,6.016666667,pose2_to_pose3_retreat,0.578453483921,0.00018178938287,1.05002068393,0.54902463112,0.00885602512865,1.04969238323
+362,6.033333333,pose2_to_pose3_retreat,0.578155723981,0.000181880751524,1.05002054147,0.548726870661,0.00885611513598,1.04969225137
+363,6.050000000,pose2_to_pose3_retreat,0.577888625803,0.000181840192516,1.0500204462,0.548459773558,0.00885607827738,1.0496921573
+364,6.066666667,pose2_to_pose3_retreat,0.57764954749,0.000181818801996,1.0500206664,0.548220695278,0.00885605663566,1.04969236794
+365,6.083333333,pose2_to_pose3_retreat,0.577434525437,0.000181815859141,1.05002056106,0.548005671361,0.00885604745421,1.04969226482
+366,6.100000000,pose2_to_pose3_retreat,0.577236104691,0.000181717488479,1.05002081399,0.547807253138,0.00885595729858,1.04969250868
+367,6.116666667,pose2_to_pose3_retreat,0.577052131689,0.00018170895841,1.05002076269,0.547623280967,0.00885595174276,1.04969246154
+368,6.133333333,pose2_to_pose3_retreat,0.576875762842,0.000181772225648,1.05002059115,0.547446911056,0.00885601179293,1.04969230045
+369,6.150000000,pose2_to_pose3_retreat,0.576708192507,0.000181769147798,1.05002070321,0.547279340793,0.00885600890958,1.04969241122
+370,6.166666667,pose2_to_pose3_retreat,0.57655526138,0.00018158139448,1.05002026773,0.547126413921,0.00885583580979,1.04969198155
+371,6.183333333,pose2_to_pose3_retreat,0.57641723558,0.000181792425319,1.05002047051,0.546988383215,0.00885603026496,1.0496921861
+372,6.200000000,pose2_to_pose3_retreat,0.576296179169,0.000181662653671,1.05002070772,0.546867328611,0.00885590634849,1.0496924161
+373,6.216666667,pose2_to_pose3_retreat,0.576191246476,0.000181737723058,1.05002062813,0.546762394779,0.00885597740726,1.04969233264
+374,6.233333333,pose2_to_pose3_retreat,0.576102093477,0.000181796594055,1.05002065224,0.54667324109,0.00885603388196,1.04969235564
+375,6.250000000,pose2_to_pose3_retreat,0.576024072441,0.000181764535139,1.05002072557,0.546595220619,0.00885600372466,1.04969242895
+376,6.266666667,pose2_to_pose3_retreat,0.575955901756,0.000181730112148,1.05002052921,0.546527049997,0.00885596957301,1.04969223396
+377,6.283333333,pose2_to_pose3_retreat,0.575896656751,0.000181760647213,1.05002038302,0.546467805144,0.00885600102677,1.04969209836
+378,6.300000000,pose2_to_pose3_retreat,0.575845396111,0.000181725289525,1.05002032504,0.546416542899,0.00885595987806,1.04969203117
+379,6.316666667,pose2_to_pose3_retreat,0.575802289411,0.000181701170156,1.05002045803,0.54637343671,0.00885593747798,1.04969216377
+380,6.333333333,pose2_to_pose3_retreat,0.575766777814,0.000181700952939,1.05002051669,0.546337925866,0.00885593996855,1.04969222643
+381,6.350000000,pose2_to_pose3_retreat,0.575738674556,0.000181684141843,1.05002051639,0.546309822877,0.00885592404423,1.04969222545
+382,6.366666667,pose2_to_pose3_retreat,0.575717497916,0.000181675096088,1.05002050227,0.546288646089,0.00885591435655,1.0496922077
+383,6.383333333,pose2_to_pose3_retreat,0.575702032129,0.000181737913439,1.05002042651,0.546273179677,0.00885597509236,1.04969213293
+384,6.400000000,pose2_to_pose3_retreat,0.5756913934,0.000181780389992,1.05002071995,0.546262540475,0.008856015715,1.04969241924
+385,6.416666667,pose2_to_pose3_retreat,0.57568400878,0.000181791422378,1.05002064789,0.546255156021,0.00885602733523,1.04969234797
+386,6.433333333,pose2_to_pose3_retreat,0.575679366265,0.000181788754102,1.05002045906,0.546250513868,0.0088560260123,1.04969216264
+387,6.450000000,pose2_to_pose3_retreat,0.575676031416,0.000181742190374,1.05002041954,0.546247179484,0.00885598108217,1.04969212475
+388,6.466666667,pose2_to_pose3_retreat,0.575673623601,0.000181696368076,1.05002041728,0.546244772059,0.00885593662171,1.04969212342
+389,6.483333333,pose2_to_pose3_retreat,0.575671760824,0.00018170548736,1.05002044245,0.546242909103,0.00885594512379,1.04969214833
+390,6.500000000,pose2_to_pose3_retreat,0.575670394626,0.000181766719854,1.05002049386,0.546241542184,0.00885600385892,1.04969219833
+391,6.516666667,pose2_to_pose3_retreat,0.575669476453,0.000181807872014,1.05002052841,0.546240623526,0.00885604333268,1.04969223194
+392,6.533333333,pose2_to_pose3_retreat,0.575669025585,0.000181820577165,1.05002052852,0.54624017247,0.00885605541115,1.04969223233
+393,6.550000000,pose2_to_pose3_retreat,0.575668983656,0.000181819991445,1.05002052456,0.546240130535,0.00885605481368,1.04969222858
+394,6.566666667,pose2_to_pose3_retreat,0.575668818996,0.000181817691246,1.05002050901,0.546239965853,0.0088560524673,1.04969221382
+395,6.583333333,pose2_to_pose3_retreat,0.575668508679,0.000181813356323,1.0500204797,0.546239655494,0.00885604804535,1.04969218601
+396,6.600000000,pose2_to_pose3_retreat,0.575668085884,0.000181807450155,1.05002043977,0.546239232642,0.00885604202062,1.04969214813
+397,6.616666667,pose2_to_pose3_retreat,0.575667839407,0.000181804007028,1.0500204165,0.546238986132,0.00885603850837,1.04969212604
+398,6.633333333,pose2_to_pose3_retreat,0.575667713269,0.000181802244961,1.05002040458,0.546238859977,0.00885603671093,1.04969211474
+399,6.650000000,pose2_to_pose3_retreat,0.575667609279,0.000181800792288,1.05002039476,0.546238755973,0.0088560352291,1.04969210542
+400,6.666666667,pose2_to_pose3_retreat,0.575667537203,0.000181796636058,1.05002040362,0.546238683992,0.00885603136995,1.04969211356
+401,6.683333333,pose2_to_pose3_retreat,0.575667284271,0.000181771047807,1.05002048941,0.546238431764,0.00885600793276,1.04969219313
+402,6.700000000,pose2_to_pose3_retreat,0.575667088559,0.000181751248397,1.05002055579,0.546238236597,0.00885598979777,1.0496922547
+403,6.716666667,pose2_to_pose3_retreat,0.575666979727,0.000181739046536,1.05002053099,0.546238128159,0.00885597901661,1.04969223214
+404,6.733333333,pose2_to_pose3_retreat,0.575666934366,0.000181733502537,1.05002049692,0.546238082996,0.00885597425515,1.0496922009
+405,6.750000000,pose2_to_pose3_retreat,0.575666819691,0.000181719487096,1.05002041078,0.546237968825,0.00885596221802,1.04969212191
+406,6.766666667,pose2_to_pose3_retreat,0.575666797154,0.000181716732676,1.05002039385,0.546237946387,0.00885595985239,1.04969210639
+407,6.783333333,pose2_to_pose3_retreat,0.575666793182,0.000181716247216,1.05002039087,0.546237942432,0.00885595943545,1.04969210365
+408,6.800000000,pose2_to_pose3_retreat,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641385,1.04969208382

Part2/Obstacle_avoidance/cylinder_15A_10/position_01/depth_04/fem_node.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9c1e70975b1362c67f8d331cf20f04bd4d5877d453d74f6fcf95d76e55b95d8
+size 25965231

Part2/Obstacle_avoidance/cylinder_15A_10/position_01/depth_04/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
+0,0.000000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+1,0.016666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+2,0.033333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+3,0.050000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+4,0.066666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+5,0.083333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+6,0.100000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+7,0.116666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+8,0.133333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+9,0.150000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+10,0.166666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+11,0.183333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+12,0.200000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+13,0.216666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+14,0.233333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+15,0.250000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+16,0.266666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+17,0.283333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+18,0.300000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+19,0.316666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+20,0.333333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+21,0.350000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+22,0.366666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+23,0.383333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+24,0.400000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+25,0.416666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+26,0.433333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+27,0.450000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+28,0.466666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+29,0.483333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+30,0.500000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+31,0.516666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+32,0.533333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+33,0.550000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+34,0.566666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+35,0.583333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+36,0.600000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+37,0.616666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+38,0.633333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+39,0.650000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+40,0.666666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+41,0.683333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+42,0.700000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+43,0.716666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+44,0.733333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+45,0.750000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+46,0.766666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+47,0.783333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+48,0.800000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+49,0.816666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+50,0.833333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+51,0.850000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+52,0.866666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+53,0.883333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+54,0.900000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+55,0.916666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+56,0.933333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+57,0.950000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+58,0.966666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+59,0.983333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+60,1.000000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+61,1.016666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+62,1.033333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+63,1.050000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+64,1.066666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+65,1.083333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+66,1.100000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+67,1.116666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+68,1.133333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+69,1.150000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+70,1.166666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+71,1.183333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+72,1.200000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+73,1.216666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+74,1.233333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+75,1.250000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+76,1.266666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+77,1.283333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+78,1.300000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+79,1.316666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+80,1.333333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+81,1.350000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+82,1.366666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+83,1.383333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+84,1.400000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+85,1.416666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+86,1.433333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+87,1.450000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+88,1.466666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+89,1.483333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+90,1.500000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+91,1.516666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+92,1.533333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+93,1.550000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+94,1.566666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+95,1.583333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+96,1.600000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+97,1.616666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+98,1.633333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+99,1.650000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+100,1.666666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+101,1.683333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+102,1.700000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+103,1.716666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+104,1.733333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+105,1.750000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+106,1.766666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+107,1.783333333,pose1_to_pose2_press,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+108,1.800000000,pose1_to_pose2_press,0.575666903599,0.000181697428587,1.05002047827,0.546238052668,0.00885593977206,1.04969218495
+109,1.816666667,pose1_to_pose2_press,0.575666956708,0.00018169159122,1.05002051987,0.54623810566,0.00885593342289,1.04969222353
+110,1.833333333,pose1_to_pose2_press,0.575667005977,0.000181686314746,1.05002055785,0.546238154819,0.00885592766906,1.04969225876
+111,1.850000000,pose1_to_pose2_press,0.575667044339,0.000181689408382,1.0500205563,0.54623819303,0.00885593025795,1.04969225744
+112,1.866666667,pose1_to_pose2_press,0.575667094143,0.000181693424765,1.05002055429,0.546238242638,0.00885593361904,1.04969225571
+113,1.883333333,pose1_to_pose2_press,0.575667234452,0.000181704739779,1.05002054863,0.546238382394,0.00885594308795,1.04969225086
+114,1.900000000,pose1_to_pose2_press,0.575668161264,0.000181724778008,1.05002044914,0.546239308276,0.00885596025597,1.04969215886
+115,1.916666667,pose1_to_pose2_press,0.575671382077,0.000181748737972,1.05002053157,0.546242528943,0.0088559836531,1.04969223947
+116,1.933333333,pose1_to_pose2_press,0.575680454372,0.000181793638546,1.05002040697,0.546251602341,0.00885603236109,1.04969211664
+117,1.950000000,pose1_to_pose2_press,0.5756967955,0.000181782522925,1.05002051798,0.546267942768,0.00885601882316,1.04969222627
+118,1.966666667,pose1_to_pose2_press,0.575723422223,0.000181764728968,1.05002047455,0.546294571159,0.00885600663692,1.0496921814
+119,1.983333333,pose1_to_pose2_press,0.575759990433,0.000181674030565,1.05002072405,0.546331140706,0.00885592046217,1.04969243054
+120,2.000000000,pose1_to_pose2_press,0.575807338668,0.00018170942186,1.05002038878,0.546378487521,0.00885595139073,1.04969210454
+121,2.016666667,pose1_to_pose2_press,0.575863555385,0.000181689051396,1.05002072992,0.546434703561,0.00885592774415,1.04969241982
+122,2.033333333,pose1_to_pose2_press,0.575928312212,0.000181828947734,1.0500205871,0.546499460176,0.00885606776417,1.04969229919
+123,2.050000000,pose1_to_pose2_press,0.576002366599,0.000181878037997,1.05002055567,0.546573513986,0.00885611480271,1.04969226516
+124,2.066666667,pose1_to_pose2_press,0.576086335252,0.000181789858538,1.05002065303,0.546657483297,0.00885602876825,1.04969236017
+125,2.083333333,pose1_to_pose2_press,0.576180712392,0.000181837006877,1.050020596,0.546751860474,0.00885607610724,1.04969230478
+126,2.100000000,pose1_to_pose2_press,0.576285690436,0.000181948395303,1.05002045966,0.5468568356,0.00885617762288,1.04969216928
+127,2.116666667,pose1_to_pose2_press,0.576403699014,0.00018182318492,1.05002080062,0.546974846992,0.00885606147701,1.04969249738
+128,2.133333333,pose1_to_pose2_press,0.576533721907,0.000181627390881,1.05002052187,0.547104871108,0.00885587037459,1.04969223295
+129,2.150000000,pose1_to_pose2_press,0.576677045102,0.000181711190855,1.05002036851,0.547248193199,0.0088559500063,1.04969206841
+130,2.166666667,pose1_to_pose2_press,0.576837663415,0.000181778133436,1.05002051011,0.547408811503,0.00885601677933,1.04969220622
+131,2.183333333,pose1_to_pose2_press,0.577015521957,0.000181750775874,1.05002063846,0.547586671225,0.00885599357899,1.04969233861
+132,2.200000000,pose1_to_pose2_press,0.577211754422,0.000181788307576,1.05002062731,0.547782902039,0.00885602546834,1.04969232628
+133,2.216666667,pose1_to_pose2_press,0.577424676889,0.00018184131359,1.05002058963,0.547995823444,0.00885607466257,1.04969228304
+134,2.233333333,pose1_to_pose2_press,0.577654059043,0.000181840393558,1.05002050056,0.548225206576,0.00885607712357,1.04969219561
+135,2.250000000,pose1_to_pose2_press,0.57789712003,0.000181825931783,1.05002031524,0.548468267094,0.00885606148028,1.04969202102
+136,2.266666667,pose1_to_pose2_press,0.578153751,0.000181719949574,1.05002038606,0.548724899248,0.00885595978284,1.04969209893
+137,2.283333333,pose1_to_pose2_press,0.578428338059,0.0001817804396,1.05002051146,0.548999485237,0.00885601649333,1.04969222039
+138,2.300000000,pose1_to_pose2_press,0.578722549063,0.000181964593808,1.05002043586,0.549293694368,0.00885619421103,1.04969214248
+139,2.316666667,pose1_to_pose2_press,0.579044275719,0.000181864612477,1.05002047018,0.549615423061,0.00885610142446,1.0496921843
+140,2.333333333,pose1_to_pose2_press,0.579396135937,0.000181773820633,1.05002050247,0.549967284575,0.00885601500353,1.04969221584
+141,2.350000000,pose1_to_pose2_press,0.579781688451,0.000181723324452,1.05002054443,0.550352837075,0.00885596406472,1.0496922473
+142,2.366666667,pose1_to_pose2_press,0.580191715299,0.000181751296494,1.05002043523,0.550762863793,0.00885599144894,1.04969213427
+143,2.383333333,pose1_to_pose2_press,0.580623039791,0.000181754078436,1.05002032911,0.551194188127,0.0088559941735,1.04969204067
+144,2.400000000,pose1_to_pose2_press,0.581067548047,0.000181732522592,1.05002031215,0.55163869548,0.00885596977397,1.04969202945
+145,2.416666667,pose1_to_pose2_press,0.581522572998,0.000181769913968,1.05002036763,0.552093719569,0.00885600386537,1.049692075
+146,2.433333333,pose1_to_pose2_press,0.581988602211,0.000181802968158,1.05002058079,0.552559748975,0.00885603738289,1.04969228308
+147,2.450000000,pose1_to_pose2_press,0.582474787723,0.000181836311531,1.05002065279,0.553045934413,0.00885607048671,1.0496923554
+148,2.466666667,pose1_to_pose2_press,0.582985628634,0.000181709168348,1.05002051252,0.553556776802,0.00885594871611,1.04969222446
+149,2.483333333,pose1_to_pose2_press,0.583518974525,0.000181821280036,1.05002064796,0.554090121695,0.00885605722824,1.04969235434
+150,2.500000000,pose1_to_pose2_press,0.584071130438,0.000181784341276,1.05002062846,0.554642278575,0.00885602377507,1.04969234023
+151,2.516666667,pose1_to_pose2_press,0.584634517926,0.00018170425337,1.05002058469,0.555205665404,0.00885594104151,1.0496922856
+152,2.533333333,pose1_to_pose2_press,0.585208256501,0.000181830606875,1.05002054861,0.555779401832,0.00885606018602,1.04969225149
+153,2.550000000,pose1_to_pose2_press,0.585796243886,0.000181828469528,1.05002040079,0.556367389543,0.00885605935921,1.04969210897
+154,2.566666667,pose1_to_pose2_press,0.58641160344,0.000181737382179,1.05002042645,0.556982751282,0.00885597572588,1.0496921358
+155,2.583333333,pose1_to_pose2_press,0.587058549789,0.000181792676182,1.05002062844,0.557629698063,0.0088560325255,1.04969233889
+156,2.600000000,pose1_to_pose2_press,0.587728906328,0.000181894066288,1.050020629,0.558300052915,0.00885612824231,1.04969234076
+157,2.616666667,pose1_to_pose2_press,0.588416565939,0.000181829582689,1.05002063775,0.558987712175,0.00885606228853,1.04969234214
+158,2.633333333,pose1_to_pose2_press,0.58911799065,0.000181858786704,1.05002056021,0.559689137386,0.00885609302672,1.0496922603
+159,2.650000000,pose1_to_pose2_press,0.589819270963,0.000181776994252,1.05002054356,0.560390419466,0.00885601733742,1.04969224643
+160,2.666666667,pose1_to_pose2_press,0.590515667072,0.000181734357075,1.05002053866,0.561086814976,0.00885597272706,1.04969224321
+161,2.683333333,pose1_to_pose2_press,0.591213343862,0.000181736473931,1.05002064836,0.56178449192,0.00885597531594,1.0496923516
+162,2.700000000,pose1_to_pose2_press,0.591912275819,0.000181774538016,1.05002056255,0.562483423281,0.00885601156828,1.04969227133
+163,2.716666667,pose1_to_pose2_press,0.592629328919,0.000181820402864,1.05002062173,0.563200476715,0.00885605838534,1.04969232576
+164,2.733333333,pose1_to_pose2_press,0.593368019792,0.000181896307729,1.05002062929,0.56393916654,0.00885613052259,1.04969232767
+165,2.750000000,pose1_to_pose2_press,0.594132611974,0.0001818252226,1.05002061363,0.564703758846,0.00885605987966,1.04969231258
+166,2.766666667,pose1_to_pose2_press,0.594920587469,0.000181644521326,1.05002061689,0.565491736207,0.00885588569693,1.04969232092
+167,2.783333333,pose1_to_pose2_press,0.595726856909,0.000181641879035,1.05002052194,0.56629800533,0.00885588213601,1.04969223017
+168,2.800000000,pose1_to_pose2_press,0.596523356452,0.000181695661709,1.05002050438,0.567094504892,0.00885593587307,1.04969220978
+169,2.816666667,pose1_to_pose2_press,0.597305418143,0.000181810155703,1.05002044587,0.567876565152,0.00885604549301,1.04969215072
+170,2.833333333,pose1_to_pose2_press,0.598061669521,0.000181935849413,1.05002051097,0.568632814012,0.00885616277636,1.04969221939
+171,2.850000000,pose1_to_pose2_press,0.598810566757,0.000181557495918,1.05002042905,0.569381714914,0.00885579663407,1.04969213152
+172,2.866666667,pose1_to_pose2_press,0.599565437487,0.000181701416359,1.05002052207,0.570136586668,0.0088559441415,1.04969222754
+173,2.883333333,pose1_to_pose2_press,0.600330719335,0.000181593243783,1.05002070985,0.570901870058,0.00885584126174,1.04969241704
+174,2.900000000,pose1_to_pose2_press,0.601107664335,0.000181724802148,1.0500205962,0.57167881347,0.00885596748016,1.04969230464
+175,2.916666667,pose1_to_pose2_press,0.601890667397,0.000181662428815,1.05002053403,0.57246181699,0.00885590657852,1.04969224036
+176,2.933333333,pose1_to_pose2_press,0.602666989751,0.000181623889888,1.05002041701,0.573238139683,0.0088558690452,1.04969211964
+177,2.950000000,pose1_to_pose2_press,0.603424509452,0.000181704961185,1.05002040693,0.573995658657,0.008855947777,1.04969211296
+178,2.966666667,pose1_to_pose2_press,0.604162773777,0.000181768745796,1.05002046153,0.574733922509,0.00885601022516,1.04969217472
+179,2.983333333,pose1_to_pose2_press,0.604881787035,0.000181791602226,1.05002033531,0.575452934911,0.00885603031561,1.04969205227
+180,3.000000000,pose1_to_pose2_press,0.605595312432,0.00018179398283,1.05002028871,0.576166458645,0.00885602715527,1.04969200832
+181,3.016666667,pose1_to_pose2_press,0.606305246098,0.000181903479857,1.0500206385,0.576876393297,0.00885613956682,1.04969234678
+182,3.033333333,pose1_to_pose2_press,0.607016888476,0.000181660752689,1.05002048982,0.577588038468,0.00885590654122,1.04969220415
+183,3.050000000,pose1_to_pose2_press,0.607724818741,0.000181655652618,1.05002035507,0.578295968718,0.00885590162032,1.04969207558
+184,3.066666667,pose1_to_pose2_press,0.608421388904,0.000181861478951,1.05002060975,0.578992534116,0.00885609075012,1.04969231628
+185,3.083333333,pose1_to_pose2_press,0.609099876042,0.000181791378164,1.05002064514,0.579671024292,0.00885603103903,1.04969235391
+186,3.100000000,pose1_to_pose2_press,0.609757352816,0.000181836990997,1.0500207584,0.580328501672,0.00885607844664,1.04969246033
+187,3.116666667,pose1_to_pose2_press,0.610382998588,0.000181805028118,1.05002071408,0.580954146071,0.00885604185938,1.04969241703
+188,3.133333333,pose1_to_pose2_press,0.610982092103,0.000181775967085,1.05002058186,0.581553239711,0.00885601347929,1.04969229159
+189,3.150000000,pose1_to_pose2_press,0.611556394152,0.000181735675061,1.05002047937,0.582127543359,0.00885597865736,1.04969219032
+190,3.166666667,pose1_to_pose2_press,0.612111501193,0.00018166009843,1.05002041748,0.58268265072,0.00885590396836,1.04969212353
+191,3.183333333,pose1_to_pose2_press,0.612649111694,0.000181831707448,1.05002042312,0.58322025816,0.00885606519522,1.04969212971
+192,3.200000000,pose1_to_pose2_press,0.613179378319,0.000181645788124,1.05002054131,0.583750527946,0.00885588999178,1.04969224386
+193,3.216666667,pose1_to_pose2_press,0.61370397341,0.000181744892662,1.05002054773,0.584275122041,0.00885598593255,1.04969225038
+194,3.233333333,pose1_to_pose2_press,0.6142146169,0.000181805461755,1.05002061744,0.584785763959,0.00885604170308,1.04969232615
+195,3.250000000,pose1_to_pose2_press,0.614707036261,0.000181727977217,1.05002056013,0.585278184135,0.00885596734547,1.04969226978
+196,3.266666667,pose1_to_pose2_press,0.615174534925,0.000181756092798,1.0500205292,0.58574568164,0.00885599174602,1.04969223642
+197,3.283333333,pose1_to_pose2_press,0.615611652033,0.00018185652565,1.05002065467,0.586182798057,0.00885609016667,1.04969235729
+198,3.300000000,pose1_to_pose2_press,0.616018551407,0.000181861189233,1.05002076235,0.586589698095,0.00885609759338,1.04969246262
+199,3.316666667,pose1_to_pose2_press,0.616410979299,0.000181733291099,1.05002066604,0.58698212571,0.0088559692682,1.04969237006
+200,3.333333333,pose1_to_pose2_press,0.616792181865,0.000181667017004,1.05002066752,0.587363330084,0.00885590927804,1.04969237024
+201,3.350000000,pose1_to_pose2_press,0.617162778387,0.000181813856035,1.05002069805,0.587733924399,0.00885604884201,1.04969239349
+202,3.366666667,pose1_to_pose2_press,0.617520134388,0.00018177319321,1.05002057034,0.58809128072,0.00885600978724,1.04969227174
+203,3.383333333,pose1_to_pose2_press,0.61786047106,0.000181849602501,1.05002076199,0.588431616534,0.00885608338255,1.04969246002
+204,3.400000000,pose1_to_pose2_press,0.618174797894,0.000181821805415,1.05002062373,0.588745944234,0.00885605908662,1.04969232478
+205,3.416666667,pose1_to_pose2_press,0.618462249239,0.000181882454268,1.05002052489,0.589033394225,0.00885611599005,1.04969223351
+206,3.433333333,pose1_to_pose2_press,0.618722617773,0.000181905505874,1.05002054066,0.58929376178,0.00885613596889,1.04969224604
+207,3.450000000,pose1_to_pose2_press,0.618960586184,0.000181834220168,1.05002055971,0.58953173136,0.00885606858748,1.04969226159
+208,3.466666667,pose1_to_pose2_press,0.619180517567,0.000181756447725,1.05002056356,0.58975166452,0.00885599703305,1.04969227038
+209,3.483333333,pose1_to_pose2_press,0.619387854503,0.000181783961555,1.05002065823,0.589959000743,0.00885602244732,1.04969236393
+210,3.500000000,pose1_to_pose2_press,0.619583297323,0.000181721783343,1.0500206268,0.590154443863,0.00885596176405,1.04969234091
+211,3.516666667,pose1_to_pose2_press,0.619768214848,0.00018174800895,1.0500205447,0.59033935984,0.00885598256235,1.0496922487
+212,3.533333333,pose1_to_pose2_press,0.619940931395,0.000181892832368,1.0500204108,0.590512076007,0.00885612661054,1.04969212271
+213,3.550000000,pose1_to_pose2_press,0.620095885473,0.000181941597637,1.05002054905,0.590667028974,0.00885617121068,1.04969224653
+214,3.566666667,pose1_to_pose2_press,0.620233472873,0.000181758459105,1.05002057787,0.590804617686,0.00885599253941,1.04969227289
+215,3.583333333,pose1_to_pose2_press,0.620352155982,0.00018171179982,1.05002048108,0.590923301818,0.00885594969863,1.04969218079
+216,3.600000000,pose1_to_pose2_press,0.620454808168,0.000181779888817,1.05002048168,0.591025954238,0.00885601890821,1.04969218684
+217,3.616666667,pose1_to_pose2_press,0.620542363105,0.000181781304004,1.05002057554,0.591113509347,0.00885602109689,1.04969228336
+218,3.633333333,pose1_to_pose2_press,0.620618742089,0.000181717039394,1.0500206687,0.591189887376,0.00885595715013,1.04969237223
+219,3.650000000,pose1_to_pose2_press,0.620685407887,0.000181740101714,1.05002071869,0.591256549872,0.00885597829424,1.04969241168
+220,3.666666667,pose1_to_pose2_press,0.620743240245,0.00018175499849,1.05002064999,0.591314385933,0.00885599365371,1.04969235774
+221,3.683333333,pose1_to_pose2_press,0.620792927087,0.000181655674383,1.05002056618,0.591364073562,0.00885589675539,1.04969226815
+222,3.700000000,pose1_to_pose2_press,0.620834302726,0.000181786722304,1.0500205516,0.59140544945,0.00885602865321,1.04969225402
+223,3.716666667,pose1_to_pose2_press,0.620868044994,0.000181776013937,1.05002058114,0.591439192255,0.0088560193324,1.04969227729
+224,3.733333333,pose1_to_pose2_press,0.6208945377,0.000181772237873,1.05002051938,0.591465683939,0.00885601210552,1.04969221746
+225,3.750000000,pose1_to_pose2_press,0.620915293442,0.000181790095487,1.05002038551,0.591486438699,0.00885602700108,1.04969209207
+226,3.766666667,pose1_to_pose2_press,0.620931457092,0.000181734909952,1.05002029396,0.591502603757,0.00885597672531,1.04969200402
+227,3.783333333,pose1_to_pose2_press,0.620943562555,0.000181756473803,1.05002049163,0.591514708691,0.00885599657931,1.04969219987
+228,3.800000000,pose1_to_pose2_press,0.620952398465,0.000181822886688,1.05002038371,0.591523543636,0.00885605970556,1.04969209196
+229,3.816666667,pose1_to_pose2_press,0.620958142697,0.000181854397383,1.05002036928,0.591529287596,0.00885609025673,1.04969207726
+230,3.833333333,pose1_to_pose2_press,0.620961797581,0.000181834143688,1.05002055672,0.591532943144,0.00885607222283,1.0496922635
+231,3.850000000,pose1_to_pose2_press,0.62096383666,0.000181823621446,1.0500206539,0.591534982533,0.00885606272657,1.04969235988
+232,3.866666667,pose1_to_pose2_press,0.620965143316,0.000181826321348,1.05002062637,0.591536288652,0.00885606350336,1.04969233021
+233,3.883333333,pose1_to_pose2_press,0.620966224166,0.000181828554675,1.05002060359,0.591537369058,0.00885606414591,1.04969230566
+234,3.900000000,pose1_to_pose2_press,0.620967090336,0.000181830344415,1.05002058534,0.591538234871,0.00885606466084,1.04969228599
+235,3.916666667,pose1_to_pose2_press,0.620967943878,0.000181832108061,1.05002056735,0.591539088062,0.00885606516826,1.0496922666
+236,3.933333333,pose1_to_pose2_press,0.620968711327,0.000181847539181,1.05002064552,0.591539855551,0.00885608062323,1.04969234207
+237,3.950000000,pose1_to_pose2_press,0.620969061043,0.000181855062085,1.05002068449,0.591540205298,0.00885608819792,1.04969237975
+238,3.966666667,pose1_to_pose2_press,0.620969849717,0.000181872027657,1.05002077236,0.591540994042,0.00885610528027,1.04969246473
+239,3.983333333,pose1_to_pose2_press,0.620969885507,0.000181872797554,1.05002077635,0.591541029835,0.00885610605547,1.04969246859
+240,4.000000000,pose1_to_pose2_press,0.620969925151,0.000181873650346,1.05002078077,0.591541069482,0.00885610691413,1.04969247286
+241,4.016666667,pose1_to_pose2_press,0.620970186068,0.000181879263066,1.05002080984,0.591541330423,0.00885611256549,1.04969250097
+242,4.033333333,pose1_to_pose2_press,0.620970628779,0.000181898282314,1.0500208079,0.591541773127,0.00885613161428,1.04969250124
+243,4.050000000,pose1_to_pose2_press,0.620971322783,0.00018195563781,1.05002065614,0.591542466985,0.00885618891168,1.04969236407
+244,4.066666667,pose1_to_pose2_press,0.620971575027,0.000181952324087,1.05002065937,0.591542719178,0.00885618533588,1.04969236357
+245,4.083333333,pose1_to_pose2_press,0.620971743422,0.00018193905134,1.05002068825,0.591542887538,0.00885617177787,1.04969238583
+246,4.100000000,pose1_to_pose2_press,0.620971961509,0.000181879520011,1.05002077474,0.591543106292,0.00885611479714,1.04969248086
+247,4.116666667,pose2_hold,0.620971961509,0.000181879520011,1.05002077474,0.591543106298,0.00885611479445,1.04969248086
+248,4.133333333,pose2_hold,0.620971961509,0.000181879520011,1.05002077474,0.591543106298,0.00885611479618,1.04969248086
+249,4.150000000,pose2_hold,0.620971961509,0.000181879520011,1.05002077474,0.591543106298,0.00885611479423,1.04969248086
+250,4.166666667,pose2_hold,0.620971961509,0.000181879520011,1.05002077474,0.591543106298,0.00885611479444,1.04969248086
+251,4.183333333,pose2_hold,0.620971961509,0.000181879520011,1.05002077474,0.591543106298,0.00885611479489,1.04969248086
+252,4.200000000,pose2_hold,0.620971961509,0.000181879520011,1.05002077474,0.591543106299,0.00885611479448,1.04969248086
+253,4.216666667,pose2_hold,0.620971961509,0.000181879520011,1.05002077474,0.591543106299,0.00885611479468,1.04969248086
+254,4.233333333,pose2_hold,0.620971961509,0.000181879520011,1.05002077474,0.591543106299,0.00885611479478,1.04969248086
+255,4.250000000,pose2_hold,0.620971961509,0.000181879520011,1.05002077474,0.591543106299,0.00885611479473,1.04969248086
+256,4.266666667,pose2_hold,0.620971961509,0.000181879520011,1.05002077474,0.5915431063,0.00885611479454,1.04969248086
+257,4.283333333,pose2_hold,0.620971961509,0.000181879520011,1.05002077474,0.5915431063,0.00885611479419,1.04969248086
+258,4.300000000,pose2_hold,0.620971961509,0.000181879520011,1.05002077474,0.5915431063,0.00885611479493,1.04969248086
+259,4.316666667,pose2_hold,0.620971961509,0.000181879520011,1.05002077474,0.591543106301,0.0088561147946,1.04969248086
+260,4.333333333,pose2_hold,0.620971961509,0.000181879520011,1.05002077474,0.5915431063,0.00885611479497,1.04969248086
+261,4.350000000,pose2_hold,0.620971961509,0.000181879520011,1.05002077474,0.5915431063,0.00885611479526,1.04969248086
+262,4.366666667,pose2_hold,0.620971961509,0.000181879520011,1.05002077474,0.5915431063,0.0088561147952,1.04969248086
+263,4.383333333,pose2_to_pose3_retreat,0.620971961509,0.000181879520011,1.05002077474,0.591543106301,0.00885611479554,1.04969248086
+264,4.400000000,pose2_to_pose3_retreat,0.620971825177,0.000181930184168,1.05002070295,0.591542969313,0.00885616284663,1.04969239721
+265,4.416666667,pose2_to_pose3_retreat,0.620971777281,0.000181927895759,1.05002069642,0.591542921479,0.00885616083305,1.04969239228
+266,4.433333333,pose2_to_pose3_retreat,0.620971697006,0.000181924060329,1.05002068547,0.591542841308,0.00885615745823,1.04969238402
+267,4.450000000,pose2_to_pose3_retreat,0.620971470415,0.000181913234119,1.05002065456,0.591542615012,0.00885614793219,1.04969236071
+268,4.466666667,pose2_to_pose3_retreat,0.620971162469,0.000181904435121,1.0500207089,0.59154230703,0.00885613879188,1.04969241062
+269,4.483333333,pose2_to_pose3_retreat,0.620970955783,0.000181898738661,1.05002074879,0.591542100305,0.00885613279177,1.04969244701
+270,4.500000000,pose2_to_pose3_retreat,0.620970651866,0.000181890362425,1.05002080743,0.59154179633,0.00885612396903,1.04969250051
+271,4.516666667,pose2_to_pose3_retreat,0.620969703627,0.00018183186071,1.05002075895,0.591540848313,0.00885606618729,1.04969245141
+272,4.533333333,pose2_to_pose3_retreat,0.620966226424,0.000181792868505,1.05002060181,0.591537371145,0.00885602764921,1.04969230201
+273,4.550000000,pose2_to_pose3_retreat,0.620959014069,0.000181924391579,1.05002068382,0.591530157462,0.00885615460789,1.04969238366
+274,4.566666667,pose2_to_pose3_retreat,0.620943936784,0.000181784074502,1.05002054094,0.59151508173,0.00885601958677,1.0496922448
+275,4.583333333,pose2_to_pose3_retreat,0.620920332762,0.000181693489836,1.0500205144,0.591491479899,0.00885593660833,1.04969221951
+276,4.600000000,pose2_to_pose3_retreat,0.620886490355,0.000181735128568,1.05002047186,0.591457637252,0.00885597733679,1.04969217732
+277,4.616666667,pose2_to_pose3_retreat,0.620843260847,0.000181782467448,1.05002074722,0.591414408211,0.00885602605738,1.04969245542
+278,4.633333333,pose2_to_pose3_retreat,0.620790104209,0.000181692892928,1.0500206383,0.591361251867,0.00885593727921,1.04969234562
+279,4.650000000,pose2_to_pose3_retreat,0.620730251336,0.000181714141428,1.05002061643,0.591301398824,0.00885595785269,1.04969232475
+280,4.666666667,pose2_to_pose3_retreat,0.620663767167,0.000181805972792,1.05002058809,0.591234913827,0.00885604702959,1.04969229479
+281,4.683333333,pose2_to_pose3_retreat,0.620589224672,0.000181818816052,1.05002047829,0.591160370596,0.00885605750635,1.04969218606
+282,4.700000000,pose2_to_pose3_retreat,0.620506210426,0.000181836856474,1.05002040229,0.591077355738,0.0088560734374,1.0496921123
+283,4.716666667,pose2_to_pose3_retreat,0.620412449074,0.000181947650176,1.05002040387,0.590983593562,0.00885618131463,1.04969211268
+284,4.733333333,pose2_to_pose3_retreat,0.620306342827,0.000181899150118,1.05002039149,0.590877486701,0.00885613065205,1.04969210248
+285,4.750000000,pose2_to_pose3_retreat,0.620186386927,0.000181674991741,1.05002050714,0.59075753491,0.00885592008189,1.04969221294
+286,4.766666667,pose2_to_pose3_retreat,0.620050000032,0.000181671782775,1.05002028299,0.590621148278,0.00885591771424,1.04969199121
+287,4.783333333,pose2_to_pose3_retreat,0.619897380448,0.000181734278283,1.05002033502,0.590468527097,0.00885597469263,1.04969204518
+288,4.800000000,pose2_to_pose3_retreat,0.619728256101,0.000181740917842,1.05002051201,0.590299402211,0.00885597930553,1.0496922222
+289,4.816666667,pose2_to_pose3_retreat,0.619542590745,0.000181707672328,1.05002052093,0.590113737644,0.00885594846179,1.04969222944
+290,4.833333333,pose2_to_pose3_retreat,0.619338322739,0.00018174315773,1.05002053177,0.589909468893,0.00885598103929,1.04969223653
+291,4.850000000,pose2_to_pose3_retreat,0.619118102517,0.000181641126779,1.05002036027,0.589689250179,0.00885588445678,1.04969208049
+292,4.866666667,pose2_to_pose3_retreat,0.618881889076,0.000181737649566,1.05002061156,0.58945303547,0.00885597581211,1.0496923164
+293,4.883333333,pose2_to_pose3_retreat,0.618629803929,0.000181818847364,1.05002066009,0.589200949959,0.00885605549773,1.04969236517
+294,4.900000000,pose2_to_pose3_retreat,0.618363106262,0.000181722994312,1.0500205851,0.588934253744,0.00885596444511,1.04969229458
+295,4.916666667,pose2_to_pose3_retreat,0.61807868533,0.000181671857857,1.05002054695,0.588649832813,0.00885591305913,1.04969225765
+296,4.933333333,pose2_to_pose3_retreat,0.61777539542,0.000181892231785,1.0500206213,0.588346539338,0.00885612095189,1.04969232971
+297,4.950000000,pose2_to_pose3_retreat,0.61745042673,0.000181840937698,1.05002051714,0.588021573809,0.00885608007542,1.04969222717
+298,4.966666667,pose2_to_pose3_retreat,0.617098823299,0.000181788170653,1.05002046133,0.587669970494,0.00885602691906,1.04969216092
+299,4.983333333,pose2_to_pose3_retreat,0.616718699299,0.000181688202542,1.05002032816,0.587289847097,0.00885592886042,1.04969203448
+300,5.000000000,pose2_to_pose3_retreat,0.616312943052,0.000181709335127,1.05002041947,0.586884090202,0.00885594740085,1.04969212609
+301,5.016666667,pose2_to_pose3_retreat,0.615885577709,0.00018181030285,1.05002042215,0.586456723764,0.00885604422595,1.04969212786
+302,5.033333333,pose2_to_pose3_retreat,0.615439954046,0.000181857009172,1.05002019651,0.58601109967,0.00885608926964,1.04969190691
+303,5.050000000,pose2_to_pose3_retreat,0.61498361777,0.000181790818955,1.0500201338,0.585554763837,0.00885602425677,1.04969184559
+304,5.066666667,pose2_to_pose3_retreat,0.614518997613,0.000181674997746,1.05002067749,0.585090145346,0.00885591327445,1.04969237626
+305,5.083333333,pose2_to_pose3_retreat,0.614037954083,0.000181795561527,1.05002057298,0.584609100743,0.00885602998096,1.04969227449
+306,5.100000000,pose2_to_pose3_retreat,0.613538070889,0.000181781674242,1.05002055481,0.584109218307,0.0088560183915,1.04969225703
+307,5.116666667,pose2_to_pose3_retreat,0.613011056234,0.00018176095231,1.05002041346,0.583582204417,0.0088560001488,1.04969212
+308,5.133333333,pose2_to_pose3_retreat,0.612461346597,0.000181774660205,1.05002033224,0.583032493964,0.00885601090557,1.04969204168
+309,5.150000000,pose2_to_pose3_retreat,0.611893354486,0.000181783755175,1.05002046344,0.582464501112,0.00885601716482,1.04969217185
+310,5.166666667,pose2_to_pose3_retreat,0.611312676924,0.000181729890741,1.05002060923,0.581883826873,0.00885597439127,1.04969231879
+311,5.183333333,pose2_to_pose3_retreat,0.61071982901,0.000181807261922,1.05002033637,0.581290977033,0.00885604456303,1.04969204014
+312,5.200000000,pose2_to_pose3_retreat,0.610112280166,0.000181807990849,1.05002056116,0.580683427882,0.00885604410843,1.04969227002
+313,5.216666667,pose2_to_pose3_retreat,0.60948673393,0.000181809632719,1.0500207296,0.580057881799,0.00885604585446,1.04969243446
+314,5.233333333,pose2_to_pose3_retreat,0.608838684423,0.000181844642287,1.05002066365,0.579409832815,0.00885608239595,1.04969236879
+315,5.250000000,pose2_to_pose3_retreat,0.60817337447,0.000181899373795,1.05002060454,0.578744523149,0.00885613785799,1.04969231151
+316,5.266666667,pose2_to_pose3_retreat,0.607492662257,0.000181905173532,1.0500207174,0.578063810627,0.00885614202191,1.04969241828
+317,5.283333333,pose2_to_pose3_retreat,0.606789201929,0.000181770139753,1.05002031883,0.577360350793,0.00885600862452,1.049692023
+318,5.300000000,pose2_to_pose3_retreat,0.606062605481,0.000181814332713,1.05002050116,0.576633755193,0.00885605553366,1.04969221322
+319,5.316666667,pose2_to_pose3_retreat,0.605327989078,0.000181893898357,1.05002053285,0.575899137596,0.00885613035239,1.04969224027
+320,5.333333333,pose2_to_pose3_retreat,0.604584477813,0.000181857748547,1.05002053068,0.575155625439,0.00885609079943,1.04969223665
+321,5.350000000,pose2_to_pose3_retreat,0.603830129055,0.000181758421819,1.05002061245,0.574401278252,0.00885599628407,1.04969231472
+322,5.366666667,pose2_to_pose3_retreat,0.603082327774,0.000181696228113,1.05002066555,0.573653478381,0.00885593874218,1.04969236838
+323,5.383333333,pose2_to_pose3_retreat,0.602341324852,0.00018177206873,1.05002061045,0.572912474188,0.00885601062138,1.04969231844
+324,5.400000000,pose2_to_pose3_retreat,0.601592276687,0.000181959353351,1.05002047639,0.572163423011,0.00885618775688,1.04969218626
+325,5.416666667,pose2_to_pose3_retreat,0.600833742174,0.000181797640913,1.05002028336,0.571404890407,0.00885603118618,1.0496919914
+326,5.433333333,pose2_to_pose3_retreat,0.60005707399,0.000181780357701,1.050020588,0.570628223695,0.00885601841642,1.0496922961
+327,5.450000000,pose2_to_pose3_retreat,0.599273015886,0.000181817232032,1.05002048543,0.569844165444,0.00885605430155,1.04969219043
+328,5.466666667,pose2_to_pose3_retreat,0.598491877354,0.000181772959307,1.05002050063,0.569063027245,0.00885601084446,1.04969220569
+329,5.483333333,pose2_to_pose3_retreat,0.597710688587,0.000181725822992,1.05002052025,0.568281839695,0.00885596769215,1.04969223009
+330,5.500000000,pose2_to_pose3_retreat,0.596931812762,0.000181744732883,1.05002052756,0.567502964621,0.00885598831211,1.04969223475
+331,5.516666667,pose2_to_pose3_retreat,0.596166468152,0.000181786126992,1.05002052037,0.566737619565,0.00885602703749,1.04969221829
+332,5.533333333,pose2_to_pose3_retreat,0.595408093224,0.000181744030594,1.05002029451,0.565979244439,0.00885598517458,1.04969200369
+333,5.550000000,pose2_to_pose3_retreat,0.594653038513,0.00018178781799,1.05002054106,0.565224188819,0.00885602422562,1.04969224074
+334,5.566666667,pose2_to_pose3_retreat,0.593897436046,0.000181753070739,1.05002064564,0.56446858668,0.00885599096828,1.04969234556
+335,5.583333333,pose2_to_pose3_retreat,0.59313745207,0.000181707672019,1.05002057539,0.563708603357,0.00885594743256,1.04969228032
+336,5.600000000,pose2_to_pose3_retreat,0.592382033556,0.000181796372672,1.05002048158,0.562953183032,0.00885602974936,1.04969218497
+337,5.616666667,pose2_to_pose3_retreat,0.59163128153,0.000181841202399,1.05002051539,0.562202430934,0.0088560744531,1.04969222168
+338,5.633333333,pose2_to_pose3_retreat,0.590889891454,0.00018179311541,1.05002054431,0.561461042456,0.008856031817,1.04969225863
+339,5.650000000,pose2_to_pose3_retreat,0.590167852162,0.000181806992412,1.0500203552,0.560739001828,0.00885604081896,1.04969206809
+340,5.666666667,pose2_to_pose3_retreat,0.589473125416,0.000181686763042,1.05002026211,0.560044277457,0.00885592822033,1.04969197581
+341,5.683333333,pose2_to_pose3_retreat,0.5887997956,0.000181801877086,1.05002053049,0.559370945685,0.00885603595494,1.0496922293
+342,5.700000000,pose2_to_pose3_retreat,0.588145936502,0.000181897069726,1.05002061743,0.558717087769,0.00885613542025,1.04969232333
+343,5.716666667,pose2_to_pose3_retreat,0.587502101897,0.000181787062654,1.05002051176,0.558073253495,0.00885602606999,1.04969221913
+344,5.733333333,pose2_to_pose3_retreat,0.586863593505,0.000181670198582,1.05002051089,0.557434745361,0.00885590944709,1.04969221487
+345,5.750000000,pose2_to_pose3_retreat,0.586219966329,0.000181680977332,1.05002061607,0.556791118792,0.00885592194862,1.04969231546
+346,5.766666667,pose2_to_pose3_retreat,0.585582897487,0.000181714362096,1.05002049524,0.556154049365,0.00885595297015,1.04969219016
+347,5.783333333,pose2_to_pose3_retreat,0.584963922602,0.000181794694864,1.05002064088,0.555535073869,0.00885603160956,1.04969234799
+348,5.800000000,pose2_to_pose3_retreat,0.584370367555,0.00018176964405,1.05002054085,0.554941520459,0.00885601209422,1.04969224746
+349,5.816666667,pose2_to_pose3_retreat,0.583806487615,0.000181806969656,1.05002053876,0.554377636144,0.00885604484529,1.04969224353
+350,5.833333333,pose2_to_pose3_retreat,0.583281388771,0.000181803209501,1.05002061973,0.553852536005,0.00885603916697,1.04969232284
+351,5.850000000,pose2_to_pose3_retreat,0.582780093611,0.000181774913483,1.05002060073,0.553351241696,0.00885601381026,1.04969230601
+352,5.866666667,pose2_to_pose3_retreat,0.582289670798,0.000181732676542,1.0500205026,0.552860819536,0.00885597380464,1.04969220795
+353,5.883333333,pose2_to_pose3_retreat,0.581809159606,0.000181695991335,1.05002044098,0.55238030752,0.00885593420931,1.04969214038
+354,5.900000000,pose2_to_pose3_retreat,0.581340529058,0.000181731300325,1.05002040989,0.551911678428,0.00885597480316,1.04969211926
+355,5.916666667,pose2_to_pose3_retreat,0.580892234411,0.000181746493941,1.05002060579,0.551463382389,0.00885598530696,1.04969231551
+356,5.933333333,pose2_to_pose3_retreat,0.580465495139,0.000181671995403,1.05002039993,0.551036643579,0.00885591205494,1.04969210148
+357,5.950000000,pose2_to_pose3_retreat,0.580063491324,0.000181736813257,1.0500204722,0.550634639864,0.00885597708775,1.04969217041
+358,5.966666667,pose2_to_pose3_retreat,0.579680397213,0.000181819755988,1.05002043608,0.550251543944,0.00885605403537,1.04969213825
+359,5.983333333,pose2_to_pose3_retreat,0.579313846961,0.000181873399136,1.05002042172,0.549884991843,0.00885610149562,1.04969212655
+360,6.000000000,pose2_to_pose3_retreat,0.578960512921,0.000181887924685,1.05002070152,0.54953165857,0.00885611852971,1.04969240344
+361,6.016666667,pose2_to_pose3_retreat,0.578621631575,0.000181776652442,1.05002078354,0.549192779298,0.00885601440202,1.04969248842
+362,6.033333333,pose2_to_pose3_retreat,0.578309795278,0.000181795896868,1.05002081231,0.548880943728,0.00885603574419,1.04969250756
+363,6.050000000,pose2_to_pose3_retreat,0.578025258372,0.000181789643545,1.05002070848,0.548596405794,0.00885602599539,1.04969240361
+364,6.066666667,pose2_to_pose3_retreat,0.577770289473,0.0001816699442,1.05002058453,0.548341438617,0.00885591240756,1.04969228694
+365,6.083333333,pose2_to_pose3_retreat,0.577541245646,0.000181564078983,1.05002071439,0.548112395382,0.00885580835341,1.04969241169
+366,6.100000000,pose2_to_pose3_retreat,0.577337436451,0.000181611519384,1.05002087849,0.547908585655,0.0088558538149,1.04969257114
+367,6.116666667,pose2_to_pose3_retreat,0.577144539512,0.000181796725392,1.0500208633,0.547715687374,0.00885603464575,1.04969256067
+368,6.133333333,pose2_to_pose3_retreat,0.576961580298,0.000181885157866,1.05002038731,0.547532726176,0.00885611702976,1.04969210285
+369,6.150000000,pose2_to_pose3_retreat,0.576790357004,0.000181748351972,1.05002071735,0.547361505974,0.00885599036152,1.04969242345
+370,6.166666667,pose2_to_pose3_retreat,0.576630827475,0.000181802858014,1.05002062626,0.547201974956,0.00885603962865,1.04969232752
+371,6.183333333,pose2_to_pose3_retreat,0.576484603611,0.000181763648765,1.05002047141,0.547055751352,0.00885600142024,1.04969217581
+372,6.200000000,pose2_to_pose3_retreat,0.576354584348,0.00018172818237,1.05002053668,0.546925732418,0.00885596707799,1.04969224133
+373,6.216666667,pose2_to_pose3_retreat,0.576241308463,0.000181785458896,1.05002054486,0.546812455696,0.00885602144207,1.04969224754
+374,6.233333333,pose2_to_pose3_retreat,0.576143380941,0.000181884029113,1.05002029813,0.546714526995,0.0088561161136,1.04969200424
+375,6.250000000,pose2_to_pose3_retreat,0.57605896808,0.000181963006224,1.05002027236,0.546630112081,0.00885618828112,1.04969198544
+376,6.266666667,pose2_to_pose3_retreat,0.57598657245,0.000181870662638,1.05002060143,0.546557717459,0.00885609915054,1.04969230692
+377,6.283333333,pose2_to_pose3_retreat,0.57592352709,0.000181805143941,1.05002054276,0.546494674739,0.00885604288795,1.04969225562
+378,6.300000000,pose2_to_pose3_retreat,0.575869129697,0.000181826471678,1.05002049604,0.54644027712,0.00885606356374,1.04969221182
+379,6.316666667,pose2_to_pose3_retreat,0.575822048546,0.000181789298387,1.05002046198,0.546393195968,0.00885602622719,1.04969217359
+380,6.333333333,pose2_to_pose3_retreat,0.575782399156,0.000181734496122,1.05002044064,0.546353547551,0.00885597456736,1.04969214816
+381,6.350000000,pose2_to_pose3_retreat,0.575750878093,0.000181820932836,1.05002052494,0.546322025596,0.0088560579884,1.04969223284
+382,6.366666667,pose2_to_pose3_retreat,0.575726769487,0.000181684915528,1.05002055613,0.546297919409,0.00885592995727,1.04969225829
+383,6.383333333,pose2_to_pose3_retreat,0.575709453611,0.000181726800674,1.05002031576,0.546280602967,0.0088559702422,1.04969202566
+384,6.400000000,pose2_to_pose3_retreat,0.575696736894,0.000181701527738,1.0500203564,0.546267886045,0.00885594417769,1.04969206367
+385,6.416666667,pose2_to_pose3_retreat,0.575688023624,0.000181740072438,1.05002045796,0.546259171595,0.00885597854205,1.04969216059
+386,6.433333333,pose2_to_pose3_retreat,0.575681495296,0.00018191799136,1.050020557,0.546252640105,0.00885614557149,1.04969225524
+387,6.450000000,pose2_to_pose3_retreat,0.57567688713,0.000181905749389,1.05002049076,0.546248033114,0.00885613752166,1.04969219445
+388,6.466666667,pose2_to_pose3_retreat,0.575673908217,0.000181856540821,1.05002040715,0.546245055981,0.00885609458202,1.04969211693
+389,6.483333333,pose2_to_pose3_retreat,0.575672056702,0.000181819761333,1.05002049022,0.546243204803,0.00885605889704,1.04969219888
+390,6.500000000,pose2_to_pose3_retreat,0.575670760203,0.000181792288828,1.05002058586,0.546241908324,0.00885603141379,1.04969229236
+391,6.516666667,pose2_to_pose3_retreat,0.575669875811,0.000181773548791,1.05002065109,0.546241023947,0.00885601266643,1.04969235613
+392,6.533333333,pose2_to_pose3_retreat,0.575669505848,0.000181762869045,1.05002064395,0.54624065399,0.00885600198896,1.04969234859
+393,6.550000000,pose2_to_pose3_retreat,0.575669327068,0.000181754948335,1.05002060705,0.54624047521,0.00885599407454,1.0496923117
+394,6.566666667,pose2_to_pose3_retreat,0.575669281235,0.00018175291779,1.05002059759,0.546240429379,0.00885599204561,1.04969230224
+395,6.583333333,pose2_to_pose3_retreat,0.57566897199,0.00018173921699,1.05002053375,0.546240120136,0.0088559783557,1.04969223843
+396,6.600000000,pose2_to_pose3_retreat,0.575668805717,0.00018173185044,1.05002049943,0.546239953865,0.008855970995,1.04969220413
+397,6.616666667,pose2_to_pose3_retreat,0.575668718281,0.000181727976647,1.05002048138,0.546239866429,0.00885596712429,1.04969218609
+398,6.633333333,pose2_to_pose3_retreat,0.575668480689,0.000181717450366,1.05002043234,0.54623962884,0.00885595660637,1.04969213706
+399,6.650000000,pose2_to_pose3_retreat,0.575668153139,0.000181702938613,1.05002036472,0.546239301293,0.00885594210615,1.04969206948
+400,6.666666667,pose2_to_pose3_retreat,0.575668018356,0.0001816969672,1.0500203369,0.546239166512,0.00885593613948,1.04969204167
+401,6.683333333,pose2_to_pose3_retreat,0.575667903154,0.000181691863268,1.05002031312,0.54623905131,0.0088559310396,1.0496920179
+402,6.700000000,pose2_to_pose3_retreat,0.575667592844,0.000181680817025,1.05002032478,0.546238741282,0.00885592103504,1.04969203179
+403,6.716666667,pose2_to_pose3_retreat,0.575667391539,0.000181674097298,1.05002034486,0.546238540207,0.0088559151613,1.04969205366
+404,6.733333333,pose2_to_pose3_retreat,0.575667387741,0.000181673970518,1.05002034523,0.546238536414,0.00885591505048,1.04969205408
+405,6.750000000,pose2_to_pose3_retreat,0.575667295497,0.000181670891338,1.05002035443,0.546238444275,0.00885591235896,1.0496920641
+406,6.766666667,pose2_to_pose3_retreat,0.575667266449,0.000181669921677,1.05002035733,0.54623841526,0.00885591151137,1.04969206726
+407,6.783333333,pose2_to_pose3_retreat,0.575666974734,0.000181666048375,1.05002036243,0.546238123778,0.0088559085647,1.04969207596
+408,6.800000000,pose2_to_pose3_retreat,0.575666802376,0.00018169536725,1.05002023615,0.546237951023,0.00885593681788,1.04969195714
+409,6.816666667,pose2_to_pose3_retreat,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382

Part2/Obstacle_avoidance/cylinder_15A_10/position_01/depth_05/fem_node.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c693dc26554b80787acda1caac557e915d4c88845588f4d97cf715f7a12615c
+size 26087873

Part2/Obstacle_avoidance/cylinder_15A_10/position_01/depth_05/simulation_data.csv

@@ -0,0 +1,413 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+1,0.016666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+2,0.033333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+3,0.050000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+4,0.066666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+5,0.083333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+6,0.100000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+7,0.116666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+8,0.133333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+9,0.150000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+10,0.166666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+11,0.183333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+12,0.200000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+13,0.216666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+14,0.233333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+15,0.250000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+16,0.266666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+17,0.283333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+18,0.300000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+19,0.316666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+20,0.333333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+21,0.350000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+22,0.366666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+23,0.383333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+24,0.400000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+25,0.416666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+26,0.433333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+27,0.450000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+28,0.466666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+29,0.483333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+30,0.500000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+31,0.516666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+32,0.533333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+33,0.550000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+34,0.566666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+35,0.583333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+36,0.600000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+37,0.616666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+38,0.633333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+39,0.650000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+40,0.666666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+41,0.683333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+42,0.700000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+43,0.716666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+44,0.733333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+45,0.750000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+46,0.766666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+47,0.783333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+48,0.800000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+49,0.816666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+50,0.833333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+51,0.850000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+52,0.866666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+53,0.883333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+54,0.900000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+55,0.916666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+56,0.933333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+57,0.950000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+58,0.966666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+59,0.983333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+60,1.000000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+61,1.016666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+62,1.033333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+63,1.050000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+64,1.066666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+65,1.083333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+66,1.100000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+67,1.116666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+68,1.133333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+69,1.150000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+70,1.166666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+71,1.183333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+72,1.200000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+73,1.216666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+74,1.233333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+75,1.250000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+76,1.266666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+77,1.283333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+78,1.300000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+79,1.316666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+80,1.333333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+81,1.350000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+82,1.366666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+83,1.383333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+84,1.400000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+85,1.416666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+86,1.433333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+87,1.450000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+88,1.466666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+89,1.483333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+90,1.500000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+91,1.516666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+92,1.533333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+93,1.550000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+94,1.566666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+95,1.583333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+96,1.600000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+97,1.616666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+98,1.633333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+99,1.650000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+100,1.666666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+101,1.683333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+102,1.700000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+103,1.716666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+104,1.733333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+105,1.750000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+106,1.766666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+107,1.783333333,pose1_to_pose2_press,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+108,1.800000000,pose1_to_pose2_press,0.575666863482,0.000181701837948,1.05002044685,0.54623801264,0.00885594456802,1.0496921558
+109,1.816666667,pose1_to_pose2_press,0.57566688805,0.000181699137559,1.05002046609,0.546238037154,0.00885594163087,1.04969217365
+110,1.833333333,pose1_to_pose2_press,0.575666942359,0.000181693168381,1.05002050863,0.546238091343,0.00885593513833,1.0496922131
+111,1.850000000,pose1_to_pose2_press,0.575667059224,0.00018169060879,1.0500205557,0.546238207856,0.00885593126251,1.04969225692
+112,1.866666667,pose1_to_pose2_press,0.575667133567,0.000181696604072,1.0500205527,0.546238281907,0.00885593627963,1.04969225435
+113,1.883333333,pose1_to_pose2_press,0.575667176542,0.000181700069712,1.05002055097,0.546238324712,0.00885593917983,1.04969225286
+114,1.900000000,pose1_to_pose2_press,0.57566734826,0.000181713917589,1.05002054404,0.546238495753,0.00885595076835,1.04969224692
+115,1.916666667,pose1_to_pose2_press,0.575668079232,0.000181732300414,1.05002045593,0.546239225987,0.00885596688297,1.04969216502
+116,1.933333333,pose1_to_pose2_press,0.575671634392,0.000181769870136,1.05002065789,0.546242780856,0.00885600339223,1.04969236506
+117,1.950000000,pose1_to_pose2_press,0.57567995608,0.000181779798406,1.05002079599,0.546251104077,0.0088560182825,1.04969249674
+118,1.966666667,pose1_to_pose2_press,0.575697456869,0.000181826339417,1.05002064614,0.546268605367,0.00885606666476,1.04969235061
+119,1.983333333,pose1_to_pose2_press,0.575725264042,0.000181552758135,1.05002063569,0.546296414683,0.0088558001983,1.04969233593
+120,2.000000000,pose1_to_pose2_press,0.575763906727,0.000181838126375,1.05002026238,0.546335053842,0.00885607414367,1.04969197681
+121,2.016666667,pose1_to_pose2_press,0.575812959091,0.000181760664136,1.05002062144,0.546384107042,0.0088559990551,1.04969232362
+122,2.033333333,pose1_to_pose2_press,0.575872364535,0.000181689243891,1.05002074269,0.546443514084,0.00885593304656,1.04969244451
+123,2.050000000,pose1_to_pose2_press,0.575939468751,0.000181826471093,1.05002054103,0.546510616413,0.00885606397927,1.04969224558
+124,2.066666667,pose1_to_pose2_press,0.5760146426,0.000181747548266,1.05002047068,0.546585791455,0.00885598925684,1.04969217924
+125,2.083333333,pose1_to_pose2_press,0.576100664093,0.000181752683219,1.05002045923,0.546671812939,0.00885599438175,1.04969216818
+126,2.100000000,pose1_to_pose2_press,0.576196835508,0.00018184575474,1.05002052186,0.546767982399,0.008856080737,1.04969222868
+127,2.116666667,pose1_to_pose2_press,0.576303271059,0.00018185580834,1.05002052842,0.546874417168,0.00885608805741,1.04969223316
+128,2.133333333,pose1_to_pose2_press,0.576421700207,0.000181780003354,1.05002030575,0.546992847593,0.00885601652113,1.04969200878
+129,2.150000000,pose1_to_pose2_press,0.576554197341,0.00018161124264,1.05002037971,0.54712534705,0.00885585574193,1.04969208532
+130,2.166666667,pose1_to_pose2_press,0.576702309655,0.000181843051214,1.05002077996,0.547273456773,0.00885607858478,1.04969248078
+131,2.183333333,pose1_to_pose2_press,0.576867038371,0.000181850219427,1.05002052038,0.547438185264,0.00885608539176,1.04969223183
+132,2.200000000,pose1_to_pose2_press,0.577051531919,0.00018172601676,1.05002056599,0.547622679053,0.00885596154454,1.04969226517
+133,2.216666667,pose1_to_pose2_press,0.577253004941,0.000181752352561,1.05002062512,0.547824154268,0.00885599571823,1.04969233481
+134,2.233333333,pose1_to_pose2_press,0.577470205319,0.000181751311125,1.05002065781,0.54804135433,0.00885599347386,1.04969236393
+135,2.250000000,pose1_to_pose2_press,0.577701955036,0.000181623969767,1.05002050474,0.548273104121,0.00885586640411,1.04969221138
+136,2.266666667,pose1_to_pose2_press,0.577948687296,0.000181667620494,1.05002046338,0.548519835785,0.00885590814276,1.04969217289
+137,2.283333333,pose1_to_pose2_press,0.57820987045,0.000181789111387,1.05002054287,0.548781017491,0.00885602454821,1.04969224775
+138,2.300000000,pose1_to_pose2_press,0.578487268302,0.000181779574896,1.05002054536,0.549058414962,0.00885601343688,1.04969224273
+139,2.316666667,pose1_to_pose2_press,0.578787944285,0.000181748038152,1.05002046532,0.549359092669,0.00885598797342,1.04969216856
+140,2.333333333,pose1_to_pose2_press,0.579114067966,0.000181866662514,1.05002067894,0.549685213734,0.00885609758825,1.04969237858
+141,2.350000000,pose1_to_pose2_press,0.579469037822,0.000181916536357,1.0500205653,0.550040183474,0.0088561471687,1.04969226764
+142,2.366666667,pose1_to_pose2_press,0.57985757,0.000181781563035,1.05002056717,0.550428717517,0.00885601844801,1.04969226739
+143,2.383333333,pose1_to_pose2_press,0.580278382639,0.000181743893997,1.05002052241,0.550849530272,0.00885598148899,1.04969223096
+144,2.400000000,pose1_to_pose2_press,0.580716263359,0.000181851363677,1.05002050805,0.551287409428,0.0088560837117,1.0496922181
+145,2.416666667,pose1_to_pose2_press,0.581166984977,0.000181942680745,1.05002040961,0.551738130901,0.00885617468824,1.04969212365
+146,2.433333333,pose1_to_pose2_press,0.581628516629,0.000181839169188,1.05002056723,0.552199662056,0.00885606926437,1.04969227528
+147,2.450000000,pose1_to_pose2_press,0.582100208569,0.000181710600483,1.05002044397,0.552671355641,0.00885594623599,1.04969215091
+148,2.466666667,pose1_to_pose2_press,0.58258559447,0.00018169432628,1.05002051647,0.553156743178,0.00885593543642,1.04969222136
+149,2.483333333,pose1_to_pose2_press,0.583102012403,0.000181726438358,1.05002070439,0.553673160809,0.00885596630603,1.04969240355
+150,2.500000000,pose1_to_pose2_press,0.583647207194,0.000181715085692,1.05002056783,0.554218354391,0.00885595076421,1.04969226462
+151,2.516666667,pose1_to_pose2_press,0.584211645921,0.00018176956688,1.05002058859,0.554782792533,0.00885600337362,1.04969228828
+152,2.533333333,pose1_to_pose2_press,0.584787396195,0.000181919481065,1.05002058836,0.5553585429,0.00885615402269,1.04969229913
+153,2.550000000,pose1_to_pose2_press,0.585369834657,0.000181828472536,1.05002029783,0.555940981469,0.00885606322565,1.04969200459
+154,2.566666667,pose1_to_pose2_press,0.585965787683,0.000181837801375,1.0500203967,0.556536934558,0.00885607286988,1.04969210617
+155,2.583333333,pose1_to_pose2_press,0.586583314021,0.000181803834415,1.05002040262,0.557154461237,0.00885604009136,1.04969211294
+156,2.600000000,pose1_to_pose2_press,0.587234072721,0.000181751370382,1.05002021848,0.557805219956,0.00885598772957,1.04969192979
+157,2.616666667,pose1_to_pose2_press,0.587915466761,0.000181742219754,1.05002058207,0.558486614534,0.00885598014284,1.04969228652
+158,2.633333333,pose1_to_pose2_press,0.588621958319,0.00018179776269,1.05002057267,0.559193106115,0.00885603566117,1.0496922744
+159,2.650000000,pose1_to_pose2_press,0.589334763995,0.000181799049599,1.05002040815,0.559905911781,0.00885603711904,1.04969211518
+160,2.666666667,pose1_to_pose2_press,0.590045480546,0.000181778251992,1.05002047034,0.560616628171,0.00885601573094,1.04969217628
+161,2.683333333,pose1_to_pose2_press,0.590750449286,0.000181801205484,1.05002053405,0.561321596884,0.00885603859016,1.04969223994
+162,2.700000000,pose1_to_pose2_press,0.59145294479,0.000181810024628,1.05002054061,0.562024093092,0.00885605001784,1.04969225227
+163,2.716666667,pose1_to_pose2_press,0.592164771502,0.000181745294756,1.05002066466,0.562735920434,0.00885598714773,1.04969236901
+164,2.733333333,pose1_to_pose2_press,0.592893332116,0.0001817449943,1.05002064256,0.563464480642,0.00885598564154,1.04969235157
+165,2.750000000,pose1_to_pose2_press,0.593649683935,0.000181729976178,1.05002063627,0.564220831042,0.00885596578519,1.0496923446
+166,2.766666667,pose1_to_pose2_press,0.594427446265,0.000181808337646,1.05002053193,0.564998594506,0.0088560480578,1.049692242
+167,2.783333333,pose1_to_pose2_press,0.595223728628,0.000181884598889,1.05002063715,0.565794874911,0.008856117505,1.04969234278
+168,2.800000000,pose1_to_pose2_press,0.596029376943,0.000181698159522,1.05002066784,0.566600526237,0.00885594118179,1.04969237079
+169,2.816666667,pose1_to_pose2_press,0.596836604666,0.00018176350872,1.05002063692,0.567407753062,0.0088560037797,1.0496923477
+170,2.833333333,pose1_to_pose2_press,0.597631391524,0.000181753642597,1.05002040991,0.56820253978,0.00885599339472,1.0496921197
+171,2.850000000,pose1_to_pose2_press,0.598412834118,0.000181785347701,1.05002041783,0.568983981731,0.00885602290945,1.04969212736
+172,2.866666667,pose1_to_pose2_press,0.599177425435,0.000181842270309,1.05002051737,0.569748572927,0.00885607947766,1.04969222843
+173,2.883333333,pose1_to_pose2_press,0.599948040654,0.000181781564382,1.05002053168,0.57051918839,0.00885601946703,1.04969223928
+174,2.900000000,pose1_to_pose2_press,0.60073061919,0.000181678429297,1.05002052637,0.571301766094,0.00885591324771,1.04969222716
+175,2.916666667,pose1_to_pose2_press,0.601516511039,0.00018175580508,1.05002045107,0.572087658651,0.00885599302169,1.04969215175
+176,2.933333333,pose1_to_pose2_press,0.60230816638,0.000181778482919,1.0500205455,0.572879314114,0.00885601636344,1.04969225281
+177,2.950000000,pose1_to_pose2_press,0.603105467025,0.000181801048432,1.05002064064,0.573676615178,0.0088560404056,1.04969234949
+178,2.966666667,pose1_to_pose2_press,0.603884808246,0.000182028871238,1.05002053762,0.574455953615,0.00885625856226,1.04969224073
+179,2.983333333,pose1_to_pose2_press,0.604639237559,0.00018180652418,1.05002054172,0.575210385103,0.00885604368917,1.04969224741
+180,3.000000000,pose1_to_pose2_press,0.6053740625,0.000181508022592,1.05002053964,0.575945213606,0.00885575724886,1.04969224474
+181,3.016666667,pose1_to_pose2_press,0.606094088726,0.000181683304036,1.05002056223,0.57666523739,0.00885592401497,1.0496922613
+182,3.033333333,pose1_to_pose2_press,0.60681914664,0.000181780009099,1.05002072086,0.5773902945,0.00885601789463,1.04969241739
+183,3.050000000,pose1_to_pose2_press,0.607547038314,0.000181784354535,1.05002076705,0.578118186956,0.00885602480087,1.04969246124
+184,3.066666667,pose1_to_pose2_press,0.608272698392,0.000181824287376,1.05002057427,0.578843846713,0.00885606383811,1.04969227364
+185,3.083333333,pose1_to_pose2_press,0.608990346223,0.000181859661202,1.05002039875,0.57956149401,0.00885609781208,1.049692109
+186,3.100000000,pose1_to_pose2_press,0.609693175552,0.000181747519417,1.05002034544,0.580264324389,0.00885598927311,1.04969205685
+187,3.116666667,pose1_to_pose2_press,0.610359911076,0.000181568659812,1.05002034917,0.580931060639,0.00885581265639,1.04969205483
+188,3.133333333,pose1_to_pose2_press,0.610994950427,0.00018169785155,1.05002060029,0.58156609802,0.00885593494393,1.04969230025
+189,3.150000000,pose1_to_pose2_press,0.611603412276,0.00018190186174,1.05002081385,0.582174559188,0.00885613648365,1.04969250966
+190,3.166666667,pose1_to_pose2_press,0.612192039928,0.000181857214503,1.05002069167,0.58276318663,0.00885609124922,1.049692391
+191,3.183333333,pose1_to_pose2_press,0.612760005058,0.000181747137526,1.05002066317,0.583331154116,0.00885598940689,1.04969236821
+192,3.200000000,pose1_to_pose2_press,0.613319099989,0.000181485364353,1.05002063173,0.583890252086,0.00885573831419,1.0496923433
+193,3.216666667,pose1_to_pose2_press,0.613870131209,0.000181594450758,1.05002063943,0.584441281294,0.00885584071727,1.04969234788
+194,3.233333333,pose1_to_pose2_press,0.614408711549,0.000181786148108,1.05002070434,0.584979859467,0.00885602534533,1.04969241099
+195,3.250000000,pose1_to_pose2_press,0.614933869619,0.000181766384712,1.05002066348,0.585505018208,0.00885600838806,1.04969237395
+196,3.266666667,pose1_to_pose2_press,0.61543866954,0.00018171124721,1.05002052575,0.586009818236,0.00885595410713,1.04969223487
+197,3.283333333,pose1_to_pose2_press,0.615916499528,0.000181751167312,1.05002057553,0.586487647104,0.0088559907365,1.04969227844
+198,3.300000000,pose1_to_pose2_press,0.616365909318,0.000181779974159,1.05002064085,0.586937056835,0.00885601988534,1.049692347
+199,3.316666667,pose1_to_pose2_press,0.616791164372,0.000181945517522,1.05002053852,0.587362308849,0.00885617536593,1.04969224507
+200,3.333333333,pose1_to_pose2_press,0.617198312331,0.000181849252297,1.05002071559,0.58776945782,0.00885608327021,1.04969242506
+201,3.350000000,pose1_to_pose2_press,0.61759626324,0.000181647447197,1.05002058383,0.588167410536,0.00885588772986,1.04969229318
+202,3.366666667,pose1_to_pose2_press,0.61798233484,0.00018175455348,1.05002044926,0.588553481104,0.00885599165488,1.04969215725
+203,3.383333333,pose1_to_pose2_press,0.618352269093,0.000181874927238,1.05002049563,0.5889234132,0.00885610514054,1.04969219995
+204,3.400000000,pose1_to_pose2_press,0.618700378105,0.000181856600161,1.05002061988,0.589271522548,0.00885608825984,1.04969232041
+205,3.416666667,pose1_to_pose2_press,0.619024858055,0.00018184965628,1.05002061213,0.589596003327,0.00885608452684,1.0496923153
+206,3.433333333,pose1_to_pose2_press,0.619320672554,0.000181846638579,1.05002048104,0.589891818283,0.00885608356425,1.04969219097
+207,3.450000000,pose1_to_pose2_press,0.619591906412,0.000181751584819,1.05002041645,0.590163053824,0.00885599454263,1.04969212872
+208,3.466666667,pose1_to_pose2_press,0.6198427578,0.000181666049203,1.05002049971,0.590413905305,0.00885590947195,1.04969220802
+209,3.483333333,pose1_to_pose2_press,0.6200794358,0.000181453869506,1.05002046632,0.590650585378,0.00885570425217,1.04969215862
+210,3.500000000,pose1_to_pose2_press,0.620303058395,0.000181648618607,1.05002064529,0.590874206236,0.00885589350461,1.04969234728
+211,3.516666667,pose1_to_pose2_press,0.620515116196,0.000181918860574,1.05002055493,0.59108625998,0.00885615031849,1.0496922617
+212,3.533333333,pose1_to_pose2_press,0.620713825759,0.000181776153773,1.05002064553,0.591284972281,0.00885601697219,1.0496923485
+213,3.550000000,pose1_to_pose2_press,0.620893041582,0.000181674774511,1.05002066525,0.591464187747,0.00885591459669,1.0496923696
+214,3.566666667,pose1_to_pose2_press,0.621052608061,0.000181691448368,1.05002076743,0.591623754281,0.0088559314754,1.04969246695
+215,3.583333333,pose1_to_pose2_press,0.621190969058,0.000181728502233,1.05002056613,0.591762115431,0.00885596935704,1.04969227065
+216,3.600000000,pose1_to_pose2_press,0.621312810261,0.000181891231234,1.05002059635,0.591883955922,0.00885612996268,1.04969230494
+217,3.616666667,pose1_to_pose2_press,0.621419455808,0.000181938870842,1.05002056754,0.591990601429,0.00885617769803,1.04969227823
+218,3.633333333,pose1_to_pose2_press,0.621514233023,0.000181753052412,1.05002039421,0.592085379288,0.00885599412004,1.04969210375
+219,3.650000000,pose1_to_pose2_press,0.621598025903,0.000181686172622,1.05002064366,0.592169171452,0.00885592452811,1.04969234609
+220,3.666666667,pose1_to_pose2_press,0.621670775779,0.000181880726788,1.05002048283,0.592241920625,0.00885611709785,1.04969220405
+221,3.683333333,pose1_to_pose2_press,0.621733324669,0.000181722353116,1.05002061191,0.592304470479,0.0088559624226,1.04969232901
+222,3.700000000,pose1_to_pose2_press,0.621785075381,0.000181730209154,1.05002074542,0.592356221284,0.00885597021835,1.04969245508
+223,3.716666667,pose1_to_pose2_press,0.621828123037,0.000181753466579,1.05002055766,0.592399268536,0.0088559922758,1.04969226803
+224,3.733333333,pose1_to_pose2_press,0.621863007587,0.000181778509227,1.05002071001,0.592434152257,0.00885601442511,1.04969241477
+225,3.750000000,pose1_to_pose2_press,0.621891370474,0.000181818622866,1.05002056897,0.592462514631,0.00885605290691,1.04969227379
+226,3.766666667,pose1_to_pose2_press,0.621913874825,0.000181755082854,1.05002046959,0.592485020542,0.00885599459887,1.04969217469
+227,3.783333333,pose1_to_pose2_press,0.621930834685,0.000181734832025,1.05002057678,0.592501980982,0.00885597622542,1.04969228081
+228,3.800000000,pose1_to_pose2_press,0.621943949942,0.000181907521784,1.05002065533,0.592515093154,0.00885613877377,1.04969236147
+229,3.816666667,pose1_to_pose2_press,0.62195337396,0.000181573946324,1.0500206539,0.592524522674,0.00885582387492,1.04969235953
+230,3.833333333,pose1_to_pose2_press,0.621960271533,0.000181690017694,1.05002086644,0.592531418384,0.00885593337377,1.04969256576
+231,3.850000000,pose1_to_pose2_press,0.621965113526,0.000181790428238,1.05002085579,0.592536259342,0.00885603022561,1.04969255431
+232,3.866666667,pose1_to_pose2_press,0.621968482654,0.000181823474269,1.05002066848,0.592539628802,0.00885606442061,1.04969237176
+233,3.883333333,pose1_to_pose2_press,0.621970518845,0.0001818354974,1.05002047695,0.592541664757,0.00885607567376,1.04969218471
+234,3.900000000,pose1_to_pose2_press,0.62197134798,0.000181855347997,1.05002040134,0.592542492742,0.00885609165747,1.04969210953
+235,3.916666667,pose1_to_pose2_press,0.621971565067,0.00018181157935,1.05002047842,0.592542710614,0.00885605043947,1.04969218234
+236,3.933333333,pose1_to_pose2_press,0.621971569742,0.000181810617986,1.05002048012,0.592542715307,0.00885604953441,1.04969218394
+237,3.950000000,pose1_to_pose2_press,0.621971580435,0.00018180841898,1.050020484,0.592542726039,0.00885604746417,1.04969218761
+238,3.966666667,pose1_to_pose2_press,0.621971635926,0.000181797007475,1.05002050415,0.592542781736,0.00885603672092,1.04969220664
+239,3.983333333,pose1_to_pose2_press,0.621971789091,0.000181765509534,1.05002055975,0.592542935468,0.00885600706748,1.04969225918
+240,4.000000000,pose1_to_pose2_press,0.621971878651,0.000181771733303,1.05002048123,0.592543024313,0.00885601102485,1.0496921844
+241,4.016666667,pose1_to_pose2_press,0.621971881918,0.000181772053849,1.05002047794,0.592543027549,0.00885601125003,1.04969218127
+242,4.033333333,pose1_to_pose2_press,0.621971894828,0.000181773320749,1.05002046496,0.592543040341,0.00885601214004,1.04969216891
+243,4.050000000,pose1_to_pose2_press,0.621971917056,0.000181775502109,1.0500204426,0.592543062364,0.00885601367247,1.04969214762
+244,4.066666667,pose1_to_pose2_press,0.62197192199,0.000181775986291,1.05002043764,0.592543067253,0.00885601401261,1.0496921429
+245,4.083333333,pose1_to_pose2_press,0.621971937517,0.000181777510063,1.05002042202,0.592543082637,0.00885601508308,1.04969212803
+246,4.100000000,pose1_to_pose2_press,0.621971947695,0.000181778508875,1.05002041178,0.592543092721,0.00885601578463,1.04969211828
+247,4.116666667,pose1_to_pose2_press,0.621971947695,0.000181778508875,1.05002041178,0.592543092721,0.00885601578434,1.04969211827
+248,4.133333333,pose1_to_pose2_press,0.621971947695,0.000181778508875,1.05002041178,0.592543092722,0.00885601578351,1.04969211827
+249,4.150000000,pose2_hold,0.621971947695,0.000181778508875,1.05002041178,0.592543092726,0.00885601578346,1.04969211827
+250,4.166666667,pose2_hold,0.621971947695,0.000181778508875,1.05002041178,0.592543092727,0.00885601578338,1.04969211827
+251,4.183333333,pose2_hold,0.621971947695,0.000181778508875,1.05002041178,0.592543092727,0.0088560157833,1.04969211827
+252,4.200000000,pose2_hold,0.621971947695,0.000181778508875,1.05002041178,0.592543092727,0.00885601578324,1.04969211827
+253,4.216666667,pose2_hold,0.621971947695,0.000181778508875,1.05002041178,0.592543092728,0.00885601578305,1.04969211827
+254,4.233333333,pose2_hold,0.621971947695,0.000181778508875,1.05002041178,0.592543092728,0.00885601578298,1.04969211827
+255,4.250000000,pose2_hold,0.621971947695,0.000181778508875,1.05002041178,0.592543092728,0.00885601578294,1.04969211827
+256,4.266666667,pose2_hold,0.621971947695,0.000181778508875,1.05002041178,0.592543092728,0.00885601578286,1.04969211827
+257,4.283333333,pose2_hold,0.621971947695,0.000181778508875,1.05002041178,0.592543092728,0.00885601578328,1.04969211827
+258,4.300000000,pose2_hold,0.621971947695,0.000181778508875,1.05002041178,0.592543092728,0.00885601578322,1.04969211827
+259,4.316666667,pose2_hold,0.621971947695,0.000181778508875,1.05002041178,0.592543092728,0.00885601578317,1.04969211827
+260,4.333333333,pose2_hold,0.621971947695,0.000181778508875,1.05002041178,0.592543092729,0.00885601578302,1.04969211826
+261,4.350000000,pose2_hold,0.621971947695,0.000181778508875,1.05002041178,0.592543092729,0.00885601578286,1.04969211826
+262,4.366666667,pose2_hold,0.621971947695,0.000181778508875,1.05002041178,0.592543092729,0.00885601578272,1.04969211826
+263,4.383333333,pose2_hold,0.621971947695,0.000181778508875,1.05002041178,0.592543092729,0.00885601578267,1.04969211826
+264,4.400000000,pose2_hold,0.621971947695,0.000181778508875,1.05002041178,0.592543092729,0.00885601578279,1.04969211826
+265,4.416666667,pose2_to_pose3_retreat,0.621971947695,0.000181778508875,1.05002041178,0.592543092731,0.00885601578225,1.04969211827
+266,4.433333333,pose2_to_pose3_retreat,0.621971882327,0.000181716603606,1.05002052086,0.592543027327,0.00885595375077,1.04969222694
+267,4.450000000,pose2_to_pose3_retreat,0.621971756077,0.000181759951097,1.05002052096,0.592542900911,0.00885599653206,1.0496922272
+268,4.466666667,pose2_to_pose3_retreat,0.621971724855,0.000181770671184,1.05002052098,0.592542869648,0.00885600711212,1.04969222727
+269,4.483333333,pose2_to_pose3_retreat,0.621971664988,0.000181791226086,1.05002052103,0.592542809703,0.00885602739853,1.04969222739
+270,4.500000000,pose2_to_pose3_retreat,0.621971515015,0.00018183805857,1.05002052148,0.592542659538,0.00885607357316,1.04969222796
+271,4.516666667,pose2_to_pose3_retreat,0.621971277963,0.000181849563731,1.05002052662,0.592542422247,0.00885608423636,1.04969223239
+272,4.533333333,pose2_to_pose3_retreat,0.621971205718,0.000181853070116,1.05002052818,0.592542349928,0.00885608748615,1.04969223374
+273,4.550000000,pose2_to_pose3_retreat,0.62197036767,0.000181892019854,1.05002054742,0.592541511082,0.00885612362276,1.04969225054
+274,4.566666667,pose2_to_pose3_retreat,0.621967006588,0.000181842739452,1.05002067505,0.592538151309,0.00885607880575,1.04969237564
+275,4.583333333,pose2_to_pose3_retreat,0.621959744603,0.00018165200234,1.05002073294,0.592530891812,0.00885589634096,1.04969243348
+276,4.600000000,pose2_to_pose3_retreat,0.62194469528,0.000181696352033,1.05002066146,0.592515842885,0.00885594205766,1.04969236882
+277,4.616666667,pose2_to_pose3_retreat,0.621920995745,0.000181713019942,1.05002050103,0.592492142138,0.00885595482331,1.04969220816
+278,4.633333333,pose2_to_pose3_retreat,0.621887665318,0.000181904468044,1.05002043699,0.592458810862,0.00885614351794,1.04969215123
+279,4.650000000,pose2_to_pose3_retreat,0.621845020514,0.000181921264751,1.05002051418,0.592416165952,0.00885615974579,1.04969222566
+280,4.666666667,pose2_to_pose3_retreat,0.621792087946,0.000181820924669,1.05002023927,0.592363232561,0.00885605655526,1.04969195104
+281,4.683333333,pose2_to_pose3_retreat,0.6217315604,0.000181829819921,1.05002043966,0.592302705084,0.00885606516929,1.04969214728
+282,4.700000000,pose2_to_pose3_retreat,0.621663534466,0.00018178136262,1.05002053567,0.592234679108,0.00885601631668,1.0496922419
+283,4.716666667,pose2_to_pose3_retreat,0.621586791709,0.000181718523882,1.05002053871,0.592157937667,0.00885595814348,1.0496922442
+284,4.733333333,pose2_to_pose3_retreat,0.621501572395,0.000181758519233,1.05002054222,0.592072718513,0.00885599882121,1.04969224791
+285,4.750000000,pose2_to_pose3_retreat,0.621406006911,0.00018187667726,1.05002053223,0.591977151286,0.00885611105203,1.04969224014
+286,4.766666667,pose2_to_pose3_retreat,0.621299227698,0.000181947512045,1.0500204789,0.591870370942,0.00885617819303,1.04969219085
+287,4.783333333,pose2_to_pose3_retreat,0.621180222779,0.000181843594483,1.05002025108,0.591751368584,0.00885608305074,1.04969197116
+288,4.800000000,pose2_to_pose3_retreat,0.621044325029,0.000181801566129,1.05002049099,0.591615472757,0.00885604668529,1.04969219533
+289,4.816666667,pose2_to_pose3_retreat,0.620891257351,0.000181804604866,1.05002073008,0.591462403474,0.00885604381402,1.04969242578
+290,4.833333333,pose2_to_pose3_retreat,0.620720226542,0.000181760112601,1.05002061252,0.591291373135,0.00885600095032,1.04969231484
+291,4.850000000,pose2_to_pose3_retreat,0.620531147577,0.000181836599994,1.05002053992,0.591102293573,0.00885607545233,1.04969225014
+292,4.866666667,pose2_to_pose3_retreat,0.620322371453,0.000181972197549,1.05002076908,0.5908935148,0.00885620174132,1.04969247596
+293,4.883333333,pose2_to_pose3_retreat,0.620096682819,0.000181785847486,1.05002077978,0.590667828618,0.00885602331024,1.04969248147
+294,4.900000000,pose2_to_pose3_retreat,0.619853875841,0.000181842546572,1.05002065915,0.590425020791,0.00885607689024,1.04969236376
+295,4.916666667,pose2_to_pose3_retreat,0.619592852543,0.000181719061224,1.05002067154,0.590163999357,0.00885595928408,1.04969237225
+296,4.933333333,pose2_to_pose3_retreat,0.619314939601,0.00018184525778,1.05002067886,0.589886085374,0.00885608164233,1.04969237935
+297,4.950000000,pose2_to_pose3_retreat,0.619020439125,0.000181830251517,1.05002062532,0.589591584272,0.00885606404959,1.04969232285
+298,4.966666667,pose2_to_pose3_retreat,0.61870931338,0.000181815386181,1.05002051545,0.589280459429,0.00885605199108,1.04969221549
+299,4.983333333,pose2_to_pose3_retreat,0.618379519803,0.0001818625929,1.05002044289,0.588950666425,0.0088561010768,1.04969215036
+300,5.000000000,pose2_to_pose3_retreat,0.618029566915,0.000181848602697,1.0500205274,0.588600711298,0.00885607913313,1.04969223664
+301,5.016666667,pose2_to_pose3_retreat,0.617656881312,0.000181864890282,1.05002063989,0.588228027607,0.00885610148851,1.04969234919
+302,5.033333333,pose2_to_pose3_retreat,0.617251928165,0.000181769499577,1.05002025858,0.587823075007,0.00885600743257,1.04969196618
+303,5.050000000,pose2_to_pose3_retreat,0.616819205867,0.00018186238527,1.05002053048,0.58739035183,0.00885609675113,1.0496922319
+304,5.066666667,pose2_to_pose3_retreat,0.61636280851,0.000181936139629,1.05002050561,0.586933953936,0.00885616843299,1.04969221202
+305,5.083333333,pose2_to_pose3_retreat,0.615890575345,0.000181847185334,1.05002048608,0.586461721958,0.00885608288083,1.04969218827
+306,5.100000000,pose2_to_pose3_retreat,0.615406080587,0.000181710343296,1.05002058792,0.585977228737,0.00885595053881,1.0496922821
+307,5.116666667,pose2_to_pose3_retreat,0.614914808625,0.000181681605206,1.05002054223,0.585485956929,0.0088559221571,1.04969224217
+308,5.133333333,pose2_to_pose3_retreat,0.61441192573,0.000181719810573,1.05002040175,0.58498307355,0.00885595858083,1.04969210823
+309,5.150000000,pose2_to_pose3_retreat,0.613882553875,0.000181821697193,1.05002038911,0.584453699467,0.00885605281857,1.04969210086
+310,5.166666667,pose2_to_pose3_retreat,0.613328280958,0.000181750058031,1.05002055944,0.583899429486,0.00885599082157,1.04969227136
+311,5.183333333,pose2_to_pose3_retreat,0.61275146312,0.000181734979487,1.05002044908,0.583322611775,0.00885597560446,1.04969215438
+312,5.200000000,pose2_to_pose3_retreat,0.612159639967,0.000181767966264,1.0500204052,0.582730787526,0.00885600451403,1.04969210905
+313,5.216666667,pose2_to_pose3_retreat,0.611557229791,0.000181807695863,1.05002049584,0.582128376436,0.00885604092868,1.04969220337
+314,5.233333333,pose2_to_pose3_retreat,0.610944095218,0.000181837245,1.05002042732,0.581515240506,0.00885606539799,1.04969213347
+315,5.250000000,pose2_to_pose3_retreat,0.610314732578,0.000181740119084,1.05002051205,0.580885880525,0.00885597734407,1.04969222153
+316,5.266666667,pose2_to_pose3_retreat,0.609659530822,0.000181692122528,1.05002049982,0.580230680233,0.00885593479186,1.04969221241
+317,5.283333333,pose2_to_pose3_retreat,0.608981937958,0.000181751741615,1.05002050614,0.57955308754,0.0088559942395,1.0496922198
+318,5.300000000,pose2_to_pose3_retreat,0.608285274782,0.000181795589322,1.05002060765,0.578856423456,0.00885603369768,1.04969231407
+319,5.316666667,pose2_to_pose3_retreat,0.6075703421,0.000181819716429,1.0500205758,0.578141489945,0.00885605444653,1.04969227773
+320,5.333333333,pose2_to_pose3_retreat,0.606837604676,0.000181846521122,1.05002046486,0.577408752607,0.00885608165607,1.04969216903
+321,5.350000000,pose2_to_pose3_retreat,0.606097917357,0.000181848673424,1.05002050732,0.576669066307,0.00885608700644,1.04969221445
+322,5.366666667,pose2_to_pose3_retreat,0.605346470913,0.000181794629673,1.05002034407,0.575917621335,0.00885603819752,1.04969206162
+323,5.383333333,pose2_to_pose3_retreat,0.604578788725,0.000181766561867,1.0500201544,0.575149935918,0.0088560025549,1.04969186672
+324,5.400000000,pose2_to_pose3_retreat,0.60380979459,0.000181795846756,1.05002038905,0.574380941858,0.00885603197911,1.04969209292
+325,5.416666667,pose2_to_pose3_retreat,0.603042531659,0.000181781245114,1.05002051257,0.573613679442,0.00885601909527,1.04969221651
+326,5.433333333,pose2_to_pose3_retreat,0.602278453262,0.000181764169837,1.05002054814,0.572849602455,0.00885600678658,1.04969225192
+327,5.450000000,pose2_to_pose3_retreat,0.601515042894,0.00018168406582,1.05002054195,0.572086193398,0.00885593116645,1.04969224658
+328,5.466666667,pose2_to_pose3_retreat,0.60074243081,0.000181624611727,1.05002053014,0.571313581713,0.00885587314278,1.04969223669
+329,5.483333333,pose2_to_pose3_retreat,0.599958935866,0.000181728702492,1.0500205352,0.570530085978,0.00885597450762,1.04969224067
+330,5.500000000,pose2_to_pose3_retreat,0.599162695766,0.000181743931945,1.05002055582,0.56973384348,0.00885598140122,1.04969225586
+331,5.516666667,pose2_to_pose3_retreat,0.598360892715,0.000181717764972,1.0500205579,0.568932042102,0.0088559608889,1.04969225744
+332,5.533333333,pose2_to_pose3_retreat,0.597561017179,0.000181605277374,1.05002043264,0.568132167389,0.00885585148145,1.04969213832
+333,5.550000000,pose2_to_pose3_retreat,0.596771498873,0.000181753153638,1.05002050672,0.567342646638,0.0088559909571,1.04969221043
+334,5.566666667,pose2_to_pose3_retreat,0.595995416272,0.000181807272872,1.05002055429,0.566566562809,0.0088560408393,1.04969225657
+335,5.583333333,pose2_to_pose3_retreat,0.595237199715,0.000181835595796,1.05002054607,0.565808345775,0.00885606760866,1.0496922501
+336,5.600000000,pose2_to_pose3_retreat,0.594477001058,0.000181873640499,1.05002057508,0.565048146982,0.00885610521407,1.04969227904
+337,5.616666667,pose2_to_pose3_retreat,0.593706504895,0.000181728092737,1.05002067872,0.564277652765,0.00885596605093,1.04969237524
+338,5.633333333,pose2_to_pose3_retreat,0.592932630593,0.000181641742586,1.05002055909,0.563503778853,0.00885588106884,1.04969225773
+339,5.650000000,pose2_to_pose3_retreat,0.592158287859,0.000181708897836,1.05002020411,0.56272943761,0.00885595364309,1.04969191231
+340,5.666666667,pose2_to_pose3_retreat,0.59139791019,0.000181757823511,1.05002035129,0.561969057497,0.00885599431456,1.04969206041
+341,5.683333333,pose2_to_pose3_retreat,0.590659669986,0.000181838583933,1.05002042968,0.561230816518,0.00885607223754,1.04969213333
+342,5.700000000,pose2_to_pose3_retreat,0.589949013097,0.00018189570153,1.05002057203,0.560520159747,0.00885612968108,1.04969227371
+343,5.716666667,pose2_to_pose3_retreat,0.589260581687,0.000181888667516,1.05002068749,0.559831728859,0.00885612433878,1.04969238695
+344,5.733333333,pose2_to_pose3_retreat,0.588589753712,0.000181829640785,1.05002066174,0.5591609011,0.00885606596258,1.04969235905
+345,5.750000000,pose2_to_pose3_retreat,0.587926855526,0.000181787576075,1.05002054994,0.558498001583,0.00885601964148,1.04969225406
+346,5.766666667,pose2_to_pose3_retreat,0.587269343247,0.000181910503683,1.05002068588,0.557840488555,0.00885613981054,1.0496923842
+347,5.783333333,pose2_to_pose3_retreat,0.586612709784,0.000181897307669,1.0500207751,0.557183857026,0.00885613329409,1.04969247659
+348,5.800000000,pose2_to_pose3_retreat,0.58596445909,0.000181787010999,1.0500206293,0.556535605135,0.00885601889863,1.04969232971
+349,5.816666667,pose2_to_pose3_retreat,0.585330628617,0.000181816645056,1.05002058779,0.555901774735,0.00885604853041,1.04969228166
+350,5.833333333,pose2_to_pose3_retreat,0.584719046911,0.000181785817424,1.05002055896,0.555290195101,0.00885602496702,1.04969225905
+351,5.850000000,pose2_to_pose3_retreat,0.584134665215,0.000181761887245,1.05002042898,0.554705814192,0.00885600404916,1.04969213809
+352,5.866666667,pose2_to_pose3_retreat,0.58358495569,0.000181867933557,1.05002034348,0.554156103016,0.00885610445776,1.04969205164
+353,5.883333333,pose2_to_pose3_retreat,0.583063921278,0.000181920310228,1.05002052594,0.553635067719,0.00885615388068,1.04969223533
+354,5.900000000,pose2_to_pose3_retreat,0.582567212215,0.000181809732383,1.05002064797,0.553138361294,0.0088560521219,1.04969235389
+355,5.916666667,pose2_to_pose3_retreat,0.582080961481,0.000181782762377,1.05002067875,0.552652109084,0.00885601997674,1.04969238033
+356,5.933333333,pose2_to_pose3_retreat,0.581602838613,0.000181786272507,1.05002050709,0.552173985513,0.00885602135067,1.04969221523
+357,5.950000000,pose2_to_pose3_retreat,0.581142156834,0.000181766277014,1.05002051712,0.551713303567,0.00885600085149,1.04969222694
+358,5.966666667,pose2_to_pose3_retreat,0.580700201494,0.000181763362457,1.05002060511,0.551271348074,0.00885599729482,1.04969231167
+359,5.983333333,pose2_to_pose3_retreat,0.580280742275,0.000181806350562,1.05002056069,0.550851888646,0.0088560395576,1.04969226692
+360,6.000000000,pose2_to_pose3_retreat,0.579883392539,0.00018179939848,1.05002062012,0.550454538741,0.00885603203493,1.04969232638
+361,6.016666667,pose2_to_pose3_retreat,0.57950816106,0.000181713154516,1.05002034216,0.550079309595,0.00885595444883,1.04969206804
+362,6.033333333,pose2_to_pose3_retreat,0.579145834901,0.000181729954545,1.05002051505,0.549716982343,0.00885596683058,1.04969222222
+363,6.050000000,pose2_to_pose3_retreat,0.578796104169,0.000181849909908,1.05002044203,0.549367250525,0.00885608312484,1.04969214979
+364,6.066666667,pose2_to_pose3_retreat,0.578469946956,0.000181832701149,1.05002032129,0.54904109378,0.00885606761518,1.04969203204
+365,6.083333333,pose2_to_pose3_retreat,0.578168815543,0.000181887108496,1.05002034554,0.5487399614,0.00885611872297,1.04969205572
+366,6.100000000,pose2_to_pose3_retreat,0.577896897584,0.000181881037775,1.05002046668,0.548468043374,0.00885611226462,1.04969217266
+367,6.116666667,pose2_to_pose3_retreat,0.577654098469,0.000181827092814,1.05002062299,0.548225245436,0.00885606215021,1.04969232475
+368,6.133333333,pose2_to_pose3_retreat,0.577440464834,0.00018188957406,1.05002077252,0.548011611825,0.00885612470854,1.04969247413
+369,6.150000000,pose2_to_pose3_retreat,0.577239796444,0.00018168349194,1.05002044933,0.547810943818,0.00885592016369,1.04969215748
+370,6.166666667,pose2_to_pose3_retreat,0.57705031498,0.000181737859666,1.05002056832,0.54762146227,0.00885597428836,1.04969227757
+371,6.183333333,pose2_to_pose3_retreat,0.57687227849,0.00018181568611,1.05002050431,0.547443425741,0.00885605202664,1.04969221467
+372,6.200000000,pose2_to_pose3_retreat,0.576705586999,0.000181830045095,1.05002038306,0.547276734169,0.00885606622124,1.04969209635
+373,6.216666667,pose2_to_pose3_retreat,0.576552046057,0.000181757525163,1.05002049614,0.547123193547,0.00885599474741,1.0496922085
+374,6.233333333,pose2_to_pose3_retreat,0.576414896793,0.000181655884562,1.05002073854,0.546986045263,0.00885589608071,1.04969244151
+375,6.250000000,pose2_to_pose3_retreat,0.576294315479,0.000181684369524,1.05002055099,0.546865463361,0.00885592249747,1.04969225207
+376,6.266666667,pose2_to_pose3_retreat,0.576189735112,0.000181800672773,1.05002056439,0.546760881552,0.0088560338767,1.04969226474
+377,6.283333333,pose2_to_pose3_retreat,0.576099005453,0.000181782186683,1.05002073539,0.546670152011,0.00885601584407,1.04969243727
+378,6.300000000,pose2_to_pose3_retreat,0.576019929409,0.000181781861676,1.05002053414,0.546591076907,0.00885601900205,1.04969224403
+379,6.316666667,pose2_to_pose3_retreat,0.575951363272,0.000181741212621,1.0500203441,0.54652251121,0.0088559797936,1.04969205275
+380,6.333333333,pose2_to_pose3_retreat,0.575893249589,0.000181664530581,1.0500204127,0.546464398377,0.00885590578342,1.04969211566
+381,6.350000000,pose2_to_pose3_retreat,0.575842481831,0.00018164129108,1.05002063844,0.546413632232,0.00885588813195,1.04969234446
+382,6.366666667,pose2_to_pose3_retreat,0.575799120513,0.000181790805558,1.05002055868,0.546370267115,0.00885602467314,1.04969226234
+383,6.383333333,pose2_to_pose3_retreat,0.575763373363,0.000181717481175,1.05002077262,0.546334521506,0.00885595653635,1.0496924753
+384,6.400000000,pose2_to_pose3_retreat,0.575735001437,0.000181634216441,1.0500205724,0.546306151759,0.00885588080124,1.04969227867
+385,6.416666667,pose2_to_pose3_retreat,0.575714039291,0.000181646284535,1.05002044245,0.546285189168,0.00885589134822,1.04969214845
+386,6.433333333,pose2_to_pose3_retreat,0.57569881002,0.00018167319631,1.05002064699,0.546269959112,0.00885591550372,1.04969235048
+387,6.450000000,pose2_to_pose3_retreat,0.575688662317,0.000181736259919,1.05002077854,0.546259810262,0.00885597470357,1.0496924829
+388,6.466666667,pose2_to_pose3_retreat,0.575681188635,0.000181815063641,1.0500207453,0.54625233536,0.00885604951838,1.04969245358
+389,6.483333333,pose2_to_pose3_retreat,0.57567591874,0.000181724631673,1.05002056239,0.546247067215,0.00885596504872,1.04969227136
+390,6.500000000,pose2_to_pose3_retreat,0.575672553701,0.000181666322273,1.05002052205,0.546243703349,0.00885591065957,1.04969222946
+391,6.516666667,pose2_to_pose3_retreat,0.575670480241,0.000181630125177,1.05002053348,0.546241630638,0.00885587693173,1.04969223899
+392,6.533333333,pose2_to_pose3_retreat,0.575669295562,0.000181652522029,1.05002042258,0.546240445709,0.00885589855824,1.04969213021
+393,6.550000000,pose2_to_pose3_retreat,0.575668726378,0.000181668251863,1.05002035575,0.546239876326,0.00885591366636,1.04969206476
+394,6.566666667,pose2_to_pose3_retreat,0.575668502032,0.000181674451814,1.05002032941,0.546239651902,0.00885591962127,1.04969203896
+395,6.583333333,pose2_to_pose3_retreat,0.575668229697,0.000181681977994,1.05002029743,0.546239379472,0.00885592684998,1.04969200765
+396,6.600000000,pose2_to_pose3_retreat,0.575668030301,0.000181687488466,1.05002027402,0.546239180006,0.00885593214265,1.04969198473
+397,6.616666667,pose2_to_pose3_retreat,0.575668010913,0.000181688024266,1.05002027174,0.546239160611,0.00885593265728,1.0496919825
+398,6.633333333,pose2_to_pose3_retreat,0.575667871668,0.000181712938034,1.05002029387,0.54623902085,0.00885595580058,1.04969200412
+399,6.650000000,pose2_to_pose3_retreat,0.575667654484,0.000181772925351,1.05002036699,0.546238802393,0.00885601140326,1.0496920756
+400,6.666666667,pose2_to_pose3_retreat,0.575667544279,0.000181803364579,1.05002040409,0.546238691541,0.0088560396176,1.04969211187
+401,6.683333333,pose2_to_pose3_retreat,0.575667505518,0.000181814070655,1.05002041714,0.546238652552,0.00885604954114,1.04969212463
+402,6.700000000,pose2_to_pose3_retreat,0.575667490623,0.000181818184668,1.05002042216,0.54623863757,0.00885605335445,1.04969212953
+403,6.716666667,pose2_to_pose3_retreat,0.575667428127,0.000181835446488,1.0500204432,0.546238574707,0.00885606935455,1.0496921501
+404,6.733333333,pose2_to_pose3_retreat,0.57566727461,0.00018187784877,1.05002049488,0.546238420289,0.00885610865753,1.04969220062
+405,6.750000000,pose2_to_pose3_retreat,0.575667171912,0.000181906214379,1.05002052945,0.546238316989,0.00885613494982,1.04969223442
+406,6.766666667,pose2_to_pose3_retreat,0.575667158695,0.000181909635375,1.05002053382,0.546238303698,0.00885613811549,1.04969223869
+407,6.783333333,pose2_to_pose3_retreat,0.575667108502,0.000181870968912,1.05002053135,0.546238253977,0.00885610106803,1.0496922367
+408,6.800000000,pose2_to_pose3_retreat,0.575667013842,0.00018179804713,1.0500205267,0.546238160207,0.00885603119957,1.04969223293
+409,6.816666667,pose2_to_pose3_retreat,0.575666903336,0.00018171291805,1.05002052127,0.54623805074,0.00885594963495,1.04969222854
+410,6.833333333,pose2_to_pose3_retreat,0.575666797227,0.00018170937393,1.05002040979,0.546237946116,0.00885595133313,1.04969212245
+411,6.850000000,pose2_to_pose3_retreat,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641385,1.04969208382

Part2/Obstacle_avoidance/cylinder_15A_10/position_02/depth_01/fem_node.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:702e021fd2fd3d39caa40dd441ce98adffdf222f4f990a24f0948fe9068e9765
+size 25840105

Part2/Obstacle_avoidance/cylinder_15A_10/position_02/depth_01/simulation_data.csv

@@ -0,0 +1,408 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+1,0.016666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+2,0.033333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+3,0.050000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+4,0.066666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+5,0.083333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+6,0.100000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+7,0.116666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+8,0.133333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+9,0.150000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+10,0.166666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+11,0.183333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+12,0.200000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+13,0.216666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+14,0.233333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+15,0.250000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+16,0.266666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+17,0.283333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+18,0.300000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+19,0.316666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+20,0.333333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+21,0.350000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+22,0.366666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+23,0.383333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+24,0.400000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+25,0.416666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+26,0.433333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+27,0.450000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+28,0.466666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+29,0.483333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+30,0.500000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+31,0.516666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+32,0.533333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+33,0.550000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+34,0.566666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+35,0.583333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+36,0.600000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+37,0.616666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+38,0.633333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+39,0.650000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+40,0.666666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+41,0.683333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+42,0.700000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+43,0.716666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+44,0.733333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+45,0.750000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+46,0.766666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+47,0.783333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+48,0.800000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+49,0.816666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+50,0.833333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+51,0.850000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+52,0.866666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+53,0.883333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+54,0.900000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+55,0.916666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+56,0.933333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+57,0.950000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+58,0.966666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+59,0.983333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+60,1.000000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+61,1.016666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+62,1.033333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+63,1.050000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+64,1.066666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+65,1.083333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+66,1.100000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+67,1.116666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+68,1.133333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+69,1.150000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+70,1.166666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+71,1.183333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+72,1.200000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+73,1.216666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+74,1.233333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+75,1.250000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+76,1.266666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+77,1.283333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+78,1.300000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+79,1.316666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+80,1.333333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+81,1.350000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+82,1.366666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+83,1.383333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+84,1.400000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+85,1.416666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+86,1.433333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+87,1.450000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+88,1.466666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+89,1.483333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+90,1.500000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+91,1.516666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+92,1.533333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+93,1.550000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+94,1.566666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+95,1.583333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+96,1.600000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+97,1.616666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+98,1.633333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+99,1.650000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+100,1.666666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+101,1.683333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+102,1.700000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+103,1.716666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+104,1.733333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+105,1.750000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+106,1.766666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+107,1.783333333,pose1_to_pose2_press,0.575666710209,0.000181852718045,1.0400204364,0.546237856699,0.00885608621235,1.03969214046
+108,1.800000000,pose1_to_pose2_press,0.57566671728,0.000181853200188,1.04002043136,0.546237863796,0.00885608678093,1.03969213549
+109,1.816666667,pose1_to_pose2_press,0.575666728424,0.000181853959918,1.04002042343,0.546237874978,0.00885608767687,1.03969212766
+110,1.833333333,pose1_to_pose2_press,0.575666730776,0.000181854120311,1.04002042175,0.546237877339,0.00885608786602,1.03969212601
+111,1.850000000,pose1_to_pose2_press,0.57566693392,0.000181861001916,1.04002033251,0.546238080922,0.00885609629047,1.03969203818
+112,1.866666667,pose1_to_pose2_press,0.575667523783,0.00018181755405,1.04002055094,0.546238669884,0.00885604971295,1.03969225458
+113,1.883333333,pose1_to_pose2_press,0.575669398496,0.00018175428825,1.04002057759,0.546240546008,0.0088559909909,1.03969227491
+114,1.900000000,pose1_to_pose2_press,0.575673327572,0.000181840378903,1.04002053225,0.546244474668,0.00885607614712,1.03969224216
+115,1.916666667,pose1_to_pose2_press,0.575681351601,0.000181966509776,1.04002062254,0.54625249683,0.00885619567758,1.03969232522
+116,1.933333333,pose1_to_pose2_press,0.575694214106,0.000181838006217,1.04002048625,0.546265361864,0.00885607596051,1.03969219442
+117,1.950000000,pose1_to_pose2_press,0.575712232764,0.000181886088065,1.04002038247,0.546283380092,0.00885612286624,1.03969209803
+118,1.966666667,pose1_to_pose2_press,0.575737287505,0.000181894988596,1.04002027734,0.546308433772,0.00885612809921,1.03969199096
+119,1.983333333,pose1_to_pose2_press,0.575768582884,0.00018153984151,1.04002055067,0.546339734067,0.00885578905078,1.03969224893
+120,2.000000000,pose1_to_pose2_press,0.575805238702,0.000181800617624,1.04002066363,0.546376386566,0.00885603869327,1.03969236527
+121,2.016666667,pose1_to_pose2_press,0.575847408032,0.000181768989763,1.0400205186,0.54641855523,0.00885600477376,1.03969221928
+122,2.033333333,pose1_to_pose2_press,0.575895825681,0.000181691369558,1.04002060662,0.546466973623,0.00885592947497,1.03969230188
+123,2.050000000,pose1_to_pose2_press,0.575950945269,0.000181661291079,1.04002068353,0.546522093509,0.0088559002194,1.03969237377
+124,2.066666667,pose1_to_pose2_press,0.576013459788,0.000181724090977,1.04002060464,0.546584607076,0.00885595983728,1.03969229608
+125,2.083333333,pose1_to_pose2_press,0.576085923058,0.000181949889188,1.04002055417,0.546657068321,0.00885617929828,1.03969225968
+126,2.100000000,pose1_to_pose2_press,0.576169068376,0.000181964238543,1.04002055445,0.546740214188,0.00885619544766,1.0396922581
+127,2.116666667,pose1_to_pose2_press,0.576265511312,0.000181811754507,1.04002043803,0.546836658925,0.00885604940248,1.0396921505
+128,2.133333333,pose1_to_pose2_press,0.576373882752,0.000181707377109,1.0400204324,0.546945031524,0.00885594868745,1.03969213781
+129,2.150000000,pose1_to_pose2_press,0.576493732295,0.000181723297542,1.04002049931,0.54706488026,0.00885596163464,1.03969219841
+130,2.166666667,pose1_to_pose2_press,0.576628184082,0.000181799563552,1.04002058565,0.547199330098,0.00885603157164,1.03969229217
+131,2.183333333,pose1_to_pose2_press,0.576777762537,0.000181787228004,1.04002080424,0.547348909219,0.00885602126492,1.03969250457
+132,2.200000000,pose1_to_pose2_press,0.576945685665,0.00018177793032,1.04002077174,0.547516833469,0.00885601605848,1.03969247953
+133,2.216666667,pose1_to_pose2_press,0.577133093739,0.000181750345218,1.04002057716,0.547704241597,0.00885598869661,1.03969228603
+134,2.233333333,pose1_to_pose2_press,0.577342655044,0.000181759813271,1.04002056314,0.547913803568,0.00885600015582,1.03969226483
+135,2.250000000,pose1_to_pose2_press,0.577570890884,0.000181731953796,1.04002054468,0.548142039668,0.00885597330139,1.03969224958
+136,2.266666667,pose1_to_pose2_press,0.577817232807,0.000181751132658,1.04002054347,0.548388380073,0.00885598734942,1.0396922488
+137,2.283333333,pose1_to_pose2_press,0.578083047602,0.000181768074702,1.04002059185,0.548654194542,0.00885600322764,1.03969229827
+138,2.300000000,pose1_to_pose2_press,0.578366826613,0.000181742329577,1.04002064301,0.548937974815,0.0088559819093,1.0396923532
+139,2.316666667,pose1_to_pose2_press,0.578667548159,0.000181722630814,1.04002059725,0.549238696566,0.00885596285021,1.03969230592
+140,2.333333333,pose1_to_pose2_press,0.578981633451,0.000181675050367,1.0400204025,0.549552782948,0.00885591914763,1.03969211587
+141,2.350000000,pose1_to_pose2_press,0.579307223132,0.000181763456509,1.04002051652,0.549878371664,0.00885600426562,1.03969222957
+142,2.366666667,pose1_to_pose2_press,0.579646118236,0.000181729600569,1.04002046,0.550217265097,0.00885596441906,1.03969216442
+143,2.383333333,pose1_to_pose2_press,0.580000816438,0.000181739514659,1.04002052448,0.550571964428,0.00885597807458,1.03969222657
+144,2.400000000,pose1_to_pose2_press,0.580381763159,0.00018174707371,1.04002054685,0.550952911179,0.00885598587381,1.03969225259
+145,2.416666667,pose1_to_pose2_press,0.580792523213,0.000181750011593,1.04002048067,0.551363670293,0.00885598575652,1.03969218995
+146,2.433333333,pose1_to_pose2_press,0.581239151359,0.000181791057708,1.04002049029,0.551810298094,0.00885602555853,1.03969219751
+147,2.450000000,pose1_to_pose2_press,0.58170886264,0.000181855770069,1.04002068137,0.55228000936,0.0088560900108,1.03969238304
+148,2.466666667,pose1_to_pose2_press,0.58219658703,0.000181804828504,1.04002068369,0.552767734533,0.00885604156379,1.03969238104
+149,2.483333333,pose1_to_pose2_press,0.582687640779,0.000181677996064,1.04002055237,0.553258790061,0.00885592093835,1.03969225418
+150,2.500000000,pose1_to_pose2_press,0.583181847359,0.0001816819549,1.04002041851,0.553752995264,0.00885592051267,1.03969212788
+151,2.516666667,pose1_to_pose2_press,0.583689452415,0.000181673142275,1.04002039971,0.55426060126,0.00885591496152,1.03969211101
+152,2.533333333,pose1_to_pose2_press,0.584217371122,0.000181775989527,1.04002048043,0.554788518879,0.00885601409198,1.03969219105
+153,2.550000000,pose1_to_pose2_press,0.584772404537,0.00018182405268,1.04002066962,0.55534355136,0.00885605874267,1.03969237379
+154,2.566666667,pose1_to_pose2_press,0.585351458811,0.000181737990507,1.04002064712,0.555922607,0.00885597730968,1.03969235121
+155,2.583333333,pose1_to_pose2_press,0.585949507382,0.000181670401707,1.04002038779,0.556520656832,0.00885591434138,1.03969210093
+156,2.600000000,pose1_to_pose2_press,0.586556980937,0.000181754822827,1.04002042089,0.557128128286,0.00885599155396,1.03969213185
+157,2.616666667,pose1_to_pose2_press,0.58717305078,0.000181686313595,1.04002056291,0.55774419952,0.00885592749394,1.0396922667
+158,2.633333333,pose1_to_pose2_press,0.587800922589,0.000181758166275,1.04002069123,0.558372069357,0.00885599239948,1.0396923883
+159,2.650000000,pose1_to_pose2_press,0.588444077117,0.00018179829156,1.04002047196,0.55901522414,0.00885603372265,1.03969217779
+160,2.666666667,pose1_to_pose2_press,0.589102235391,0.000181814974481,1.04002051308,0.559673382567,0.00885605091016,1.03969221862
+161,2.683333333,pose1_to_pose2_press,0.589776002121,0.000181704878217,1.04002046376,0.560347150315,0.0088559443506,1.0396921714
+162,2.700000000,pose1_to_pose2_press,0.59046337726,0.000181653252521,1.04002046853,0.56103452619,0.00885589527275,1.03969217765
+163,2.716666667,pose1_to_pose2_press,0.591159251228,0.000181712858972,1.04002048487,0.561730400167,0.00885595495552,1.03969219519
+164,2.733333333,pose1_to_pose2_press,0.591863235447,0.000181763459484,1.04002039551,0.562434383825,0.00885600373093,1.03969210789
+165,2.750000000,pose1_to_pose2_press,0.592573614768,0.000181782849045,1.04002042646,0.563144761983,0.0088560190464,1.03969213549
+166,2.766666667,pose1_to_pose2_press,0.593290780179,0.000181843982965,1.04002056613,0.563861928149,0.00885608267805,1.03969227348
+167,2.783333333,pose1_to_pose2_press,0.594016959618,0.000181789875969,1.04002080596,0.564588106591,0.00885602487249,1.03969250506
+168,2.800000000,pose1_to_pose2_press,0.594740690342,0.000181771394548,1.04002048615,0.565311836932,0.00885600521936,1.03969218857
+169,2.816666667,pose1_to_pose2_press,0.595462512238,0.000181647209079,1.04002052436,0.566033661002,0.00885588842889,1.03969222746
+170,2.833333333,pose1_to_pose2_press,0.596180887155,0.000181832874603,1.04002064382,0.566752033282,0.00885606501501,1.03969234334
+171,2.850000000,pose1_to_pose2_press,0.596896760805,0.000181878046475,1.04002053192,0.567467906289,0.00885610829731,1.03969223921
+172,2.866666667,pose1_to_pose2_press,0.597614324335,0.000181727946866,1.04002042562,0.568185471843,0.00885596531561,1.03969213953
+173,2.883333333,pose1_to_pose2_press,0.598330754177,0.000181656049337,1.04002051917,0.568901902239,0.00885589511931,1.03969222849
+174,2.900000000,pose1_to_pose2_press,0.599045609724,0.000181767635513,1.04002052001,0.56961675622,0.00885600145174,1.03969223095
+175,2.916666667,pose1_to_pose2_press,0.599769246646,0.000182012761245,1.04002054274,0.570340392073,0.00885624282474,1.03969225041
+176,2.933333333,pose1_to_pose2_press,0.600492196825,0.000181883252572,1.04002066494,0.571063344294,0.00885612013161,1.03969236973
+177,2.950000000,pose1_to_pose2_press,0.601203833299,0.00018184929996,1.04002056376,0.571774980887,0.00885608667762,1.03969227115
+178,2.966666667,pose1_to_pose2_press,0.601907542938,0.000181684162647,1.04002046369,0.572478691464,0.00885592464962,1.03969216916
+179,2.983333333,pose1_to_pose2_press,0.602600955356,0.000181704598624,1.04002043903,0.573172102999,0.00885594201,1.03969214244
+180,3.000000000,pose1_to_pose2_press,0.603289028656,0.000181796124752,1.04002044415,0.573860175316,0.0088560301462,1.03969214616
+181,3.016666667,pose1_to_pose2_press,0.603971676854,0.000181799342595,1.04002053112,0.574542824735,0.00885603754855,1.03969223429
+182,3.033333333,pose1_to_pose2_press,0.604641051747,0.000181755027343,1.04002061728,0.575212201072,0.00885599828241,1.03969232454
+183,3.050000000,pose1_to_pose2_press,0.605300972713,0.000181800171685,1.04002051501,0.575872120188,0.00885603732032,1.03969222683
+184,3.066666667,pose1_to_pose2_press,0.605951548775,0.000181899192101,1.04002049517,0.576522695068,0.00885613253605,1.03969221239
+185,3.083333333,pose1_to_pose2_press,0.606585958906,0.000181776513594,1.04002052347,0.577157107061,0.00885601601328,1.03969223656
+186,3.100000000,pose1_to_pose2_press,0.607207085138,0.000181841945082,1.04002043231,0.577778231227,0.00885607426591,1.03969214099
+187,3.116666667,pose1_to_pose2_press,0.607809804323,0.000181862648914,1.04002060694,0.578380950216,0.008856094246,1.03969231414
+188,3.133333333,pose1_to_pose2_press,0.608393418497,0.000181711507515,1.04002057735,0.578964566775,0.00885595114494,1.03969228322
+189,3.150000000,pose1_to_pose2_press,0.608951381241,0.00018170463786,1.04002070073,0.579522530554,0.00885594763496,1.03969240267
+190,3.166666667,pose1_to_pose2_press,0.609481906457,0.000181707360445,1.04002071469,0.580053055365,0.00885594881631,1.03969241227
+191,3.183333333,pose1_to_pose2_press,0.609985268701,0.000181695124877,1.04002057085,0.580556417105,0.0088559349045,1.0396922694
+192,3.200000000,pose1_to_pose2_press,0.610477619125,0.000181798288574,1.04002051361,0.581048767428,0.00885603812647,1.03969222281
+193,3.216666667,pose1_to_pose2_press,0.610961095476,0.00018175085638,1.04002034812,0.581532242767,0.00885598779,1.03969207135
+194,3.233333333,pose1_to_pose2_press,0.611431148704,0.000181824543507,1.0400206551,0.582002296928,0.00885606374914,1.03969235475
+195,3.250000000,pose1_to_pose2_press,0.611882976051,0.000181809515927,1.04002050243,0.582454123148,0.00885604495983,1.03969220411
+196,3.266666667,pose1_to_pose2_press,0.612310992746,0.000181654951411,1.04002053179,0.582882142029,0.00885589764881,1.0396922279
+197,3.283333333,pose1_to_pose2_press,0.612716375011,0.000181595447044,1.04002059626,0.583287525925,0.00885584370636,1.03969229032
+198,3.300000000,pose1_to_pose2_press,0.613102147808,0.000181716690128,1.0400205816,0.583673296996,0.00885595947066,1.03969228124
+199,3.316666667,pose1_to_pose2_press,0.613480067259,0.00018185799982,1.04002055657,0.584051213232,0.00885609021284,1.0396922599
+200,3.333333333,pose1_to_pose2_press,0.613849457937,0.000181689991405,1.04002056069,0.584420605954,0.00885592918995,1.03969226086
+201,3.350000000,pose1_to_pose2_press,0.614203422391,0.000181763004606,1.04002051254,0.584774570714,0.00885600375467,1.03969222497
+202,3.366666667,pose1_to_pose2_press,0.614535961105,0.000181870190172,1.04002078134,0.585107107404,0.00885610410547,1.03969248391
+203,3.383333333,pose1_to_pose2_press,0.614841734514,0.000181729067947,1.04002029294,0.585412881851,0.00885596705594,1.03969200322
+204,3.400000000,pose1_to_pose2_press,0.615118320995,0.000181849953034,1.04002039463,0.585689467226,0.00885608445643,1.03969210723
+205,3.416666667,pose1_to_pose2_press,0.615366437629,0.000181965578638,1.04002045629,0.585937582509,0.00885619572524,1.0396921701
+206,3.433333333,pose1_to_pose2_press,0.615599705286,0.000181983940929,1.04002039831,0.586170849865,0.00885621320377,1.03969210995
+207,3.450000000,pose1_to_pose2_press,0.615820338815,0.000181925810641,1.04002043861,0.586391484764,0.0088561596365,1.03969214219
+208,3.466666667,pose1_to_pose2_press,0.616028902229,0.000181753539772,1.0400204304,0.586600051868,0.00885600007183,1.03969213581
+209,3.483333333,pose1_to_pose2_press,0.616227757086,0.000181687127049,1.04002068376,0.586798903818,0.00885592361631,1.0396923781
+210,3.500000000,pose1_to_pose2_press,0.616415891569,0.000181653482349,1.04002038283,0.586987039336,0.00885589406527,1.03969208789
+211,3.516666667,pose1_to_pose2_press,0.61658588563,0.000181738609843,1.04002047858,0.587157032453,0.008855976266,1.0396921858
+212,3.533333333,pose1_to_pose2_press,0.61673791967,0.000181868329522,1.04002056586,0.587309066183,0.00885610485436,1.0396922685
+213,3.550000000,pose1_to_pose2_press,0.616871875378,0.000181755134064,1.04002057189,0.587443023688,0.00885599795749,1.03969227286
+214,3.566666667,pose1_to_pose2_press,0.616990425276,0.000181673279909,1.0400204538,0.587561573568,0.0088559164003,1.03969216032
+215,3.583333333,pose1_to_pose2_press,0.617094075622,0.000181783345623,1.04002028223,0.587665222039,0.0088560202771,1.03969199523
+216,3.600000000,pose1_to_pose2_press,0.617185551046,0.000181762232883,1.04002029923,0.58775669877,0.00885600374153,1.03969201005
+217,3.616666667,pose1_to_pose2_press,0.617265372062,0.000181667480232,1.04002040519,0.587836519256,0.0088559078336,1.03969211425
+218,3.633333333,pose1_to_pose2_press,0.617334507859,0.000181634922055,1.04002064147,0.587905656022,0.00885587837218,1.0396923433
+219,3.650000000,pose1_to_pose2_press,0.617394176792,0.000181820971979,1.04002048729,0.587965322961,0.00885605763744,1.03969219246
+220,3.666666667,pose1_to_pose2_press,0.617444892798,0.000181906453443,1.04002033728,0.588016039003,0.00885614327919,1.03969204708
+221,3.683333333,pose1_to_pose2_press,0.617487630375,0.000181786833196,1.04002043331,0.588058777749,0.0088560274713,1.03969213693
+222,3.700000000,pose1_to_pose2_press,0.617522313672,0.000181672298133,1.04002059138,0.588093461239,0.00885591326481,1.03969228679
+223,3.716666667,pose1_to_pose2_press,0.617550458565,0.000181753938021,1.04002057424,0.588121605086,0.00885599117479,1.03969227273
+224,3.733333333,pose1_to_pose2_press,0.617572681874,0.000181863543013,1.04002054627,0.588143828041,0.00885609997599,1.03969225148
+225,3.750000000,pose1_to_pose2_press,0.617589768381,0.000181671641185,1.04002042711,0.588160916849,0.00885591593751,1.03969213725
+226,3.766666667,pose1_to_pose2_press,0.617602976786,0.000181694806505,1.04002055457,0.58817412384,0.00885593381084,1.03969225187
+227,3.783333333,pose1_to_pose2_press,0.617612526863,0.000181650560196,1.04002058888,0.588183674334,0.00885589092432,1.03969228443
+228,3.800000000,pose1_to_pose2_press,0.617619025944,0.000181625457257,1.04002052199,0.588190173978,0.00885586793171,1.03969222221
+229,3.816666667,pose1_to_pose2_press,0.617622760448,0.000181660024427,1.04002043732,0.588193908129,0.00885590147361,1.03969214122
+230,3.833333333,pose1_to_pose2_press,0.617624964577,0.000181757771601,1.04002049912,0.588196110519,0.00885599323081,1.03969220139
+231,3.850000000,pose1_to_pose2_press,0.617626124377,0.000181814458558,1.04002053923,0.588197269301,0.00885604640016,1.03969224038
+232,3.866666667,pose1_to_pose2_press,0.617626942853,0.000181856193853,1.04002057708,0.588198087218,0.0088560862221,1.03969227788
+233,3.883333333,pose1_to_pose2_press,0.61762750115,0.000181892200653,1.04002064445,0.588198645841,0.00885612340172,1.03969234689
+234,3.900000000,pose1_to_pose2_press,0.617627912158,0.000181918708137,1.04002069405,0.588199057087,0.00885615077261,1.0396923977
+235,3.916666667,pose1_to_pose2_press,0.61762826444,0.000181941428217,1.04002073656,0.588199409574,0.00885617423273,1.03969244124
+236,3.933333333,pose1_to_pose2_press,0.617628568189,0.000181961018162,1.04002077321,0.588199713499,0.00885619446076,1.03969247879
+237,3.950000000,pose1_to_pose2_press,0.617628702238,0.000181965897889,1.0400207707,0.588199847606,0.00885619955656,1.03969247674
+238,3.966666667,pose1_to_pose2_press,0.617628768161,0.000181959912677,1.04002072786,0.588199913513,0.00885619353168,1.03969243428
+239,3.983333333,pose1_to_pose2_press,0.617628872558,0.000181950434473,1.04002066002,0.588200017884,0.00885618399067,1.03969236703
+240,4.000000000,pose1_to_pose2_press,0.617628923407,0.000181945817906,1.04002062697,0.58820006872,0.00885617934351,1.03969233427
+241,4.016666667,pose1_to_pose2_press,0.617629234236,0.000181917597522,1.04002042498,0.588200379473,0.00885615093611,1.03969213404
+242,4.033333333,pose1_to_pose2_press,0.617629473195,0.000181895262589,1.04002029986,0.588200618406,0.00885612854691,1.03969200957
+243,4.050000000,pose1_to_pose2_press,0.617629732933,0.00018186368187,1.04002050823,0.588200878505,0.00885609792893,1.03969221055
+244,4.066666667,pose1_to_pose2_press,0.617629720591,0.000181778287297,1.04002054719,0.588200866277,0.00885601307029,1.03969225309
+245,4.083333333,pose2_hold,0.617629720591,0.000181778287297,1.04002054719,0.58820086628,0.00885601307003,1.03969225309
+246,4.100000000,pose2_hold,0.617629720591,0.000181778287297,1.04002054719,0.58820086628,0.00885601306985,1.03969225309
+247,4.116666667,pose2_hold,0.617629720591,0.000181778287297,1.04002054719,0.58820086628,0.00885601306981,1.03969225309
+248,4.133333333,pose2_hold,0.617629720591,0.000181778287297,1.04002054719,0.588200866281,0.00885601307,1.03969225309
+249,4.150000000,pose2_hold,0.617629720591,0.000181778287297,1.04002054719,0.58820086628,0.00885601306976,1.03969225309
+250,4.166666667,pose2_hold,0.617629720591,0.000181778287297,1.04002054719,0.588200866281,0.00885601306995,1.03969225309
+251,4.183333333,pose2_hold,0.617629720591,0.000181778287297,1.04002054719,0.588200866281,0.00885601306991,1.03969225309
+252,4.200000000,pose2_hold,0.617629720591,0.000181778287297,1.04002054719,0.588200866281,0.00885601306978,1.03969225309
+253,4.216666667,pose2_hold,0.617629720591,0.000181778287297,1.04002054719,0.588200866281,0.00885601306968,1.03969225309
+254,4.233333333,pose2_hold,0.617629720591,0.000181778287297,1.04002054719,0.588200866281,0.00885601306987,1.03969225309
+255,4.250000000,pose2_hold,0.617629720591,0.000181778287297,1.04002054719,0.588200866281,0.00885601306984,1.03969225309
+256,4.266666667,pose2_hold,0.617629720591,0.000181778287297,1.04002054719,0.588200866281,0.00885601306963,1.03969225309
+257,4.283333333,pose2_hold,0.617629720591,0.000181778287297,1.04002054719,0.588200866281,0.00885601306985,1.03969225309
+258,4.300000000,pose2_hold,0.617629720591,0.000181778287297,1.04002054719,0.588200866281,0.00885601306965,1.03969225309
+259,4.316666667,pose2_hold,0.617629720591,0.000181778287297,1.04002054719,0.588200866281,0.00885601306968,1.03969225309
+260,4.333333333,pose2_hold,0.617629720591,0.000181778287297,1.04002054719,0.588200866281,0.00885601306979,1.03969225309
+261,4.350000000,pose2_hold,0.617629720591,0.000181778287297,1.04002054719,0.588200866282,0.00885601306981,1.03969225309
+262,4.366666667,pose2_hold,0.617629720591,0.000181778287297,1.04002054719,0.588200866282,0.00885601306978,1.03969225309
+263,4.383333333,pose2_to_pose3_retreat,0.617629720591,0.000181778287297,1.04002054719,0.588200866282,0.00885601306967,1.03969225309
+264,4.400000000,pose2_to_pose3_retreat,0.617629655222,0.000181838137596,1.04002033612,0.588200801183,0.00885607415129,1.03969205008
+265,4.416666667,pose2_to_pose3_retreat,0.617629573386,0.000181850471771,1.04002029551,0.58820071945,0.00885608688888,1.03969201094
+266,4.433333333,pose2_to_pose3_retreat,0.617629535814,0.000181842799219,1.04002032452,0.588200681873,0.00885607915907,1.03969203878
+267,4.450000000,pose2_to_pose3_retreat,0.617629496441,0.000181834759135,1.04002035491,0.588200642496,0.00885607105899,1.03969206795
+268,4.466666667,pose2_to_pose3_retreat,0.617629385827,0.000181812171274,1.0400204403,0.58820053187,0.00885604830258,1.0396921499
+269,4.483333333,pose2_to_pose3_retreat,0.617629306464,0.000181795964999,1.04002050156,0.588200452499,0.00885603197537,1.0396922087
+270,4.500000000,pose2_to_pose3_retreat,0.61762879833,0.000181794341898,1.04002059303,0.588199944691,0.00885603141113,1.03969229913
+271,4.516666667,pose2_to_pose3_retreat,0.617626527543,0.000181790338322,1.0400206544,0.5881976736,0.0088560264595,1.03969236265
+272,4.533333333,pose2_to_pose3_retreat,0.617619404347,0.000181677517616,1.0400206823,0.588190552526,0.00885592045941,1.03969238128
+273,4.550000000,pose2_to_pose3_retreat,0.617605992119,0.000181732594477,1.04002052857,0.58817713902,0.00885597149781,1.03969223729
+274,4.566666667,pose2_to_pose3_retreat,0.617583229697,0.000181731640069,1.04002053576,0.588154376594,0.00885597042368,1.03969224404
+275,4.583333333,pose2_to_pose3_retreat,0.617550936246,0.000181784976387,1.04002054266,0.58812208271,0.0088560220196,1.03969224619
+276,4.600000000,pose2_to_pose3_retreat,0.617508549828,0.000181813534388,1.0400204783,0.588079696722,0.00885605178758,1.03969217876
+277,4.616666667,pose2_to_pose3_retreat,0.617457647834,0.000181822843179,1.04002053578,0.588028794593,0.00885606078316,1.03969224346
+278,4.633333333,pose2_to_pose3_retreat,0.617398066637,0.000181739608031,1.0400206175,0.587969214387,0.00885598082388,1.03969232457
+279,4.650000000,pose2_to_pose3_retreat,0.617332076231,0.000181894803322,1.04002073349,0.587903221985,0.00885612923933,1.03969243868
+280,4.666666667,pose2_to_pose3_retreat,0.617259680539,0.000182012214562,1.04002053765,0.587830823452,0.00885623701634,1.03969224585
+281,4.683333333,pose2_to_pose3_retreat,0.617178021507,0.000181773464499,1.04002048768,0.587749167421,0.00885600889211,1.03969220419
+282,4.700000000,pose2_to_pose3_retreat,0.617087124189,0.000181624749989,1.04002043768,0.587658271271,0.00885586377669,1.03969214734
+283,4.716666667,pose2_to_pose3_retreat,0.616984967777,0.000181601706963,1.04002042158,0.587556116409,0.0088558457523,1.03969212822
+284,4.733333333,pose2_to_pose3_retreat,0.616869025468,0.000181619617285,1.04002042152,0.587440175343,0.00885586777681,1.03969212821
+285,4.750000000,pose2_to_pose3_retreat,0.616737847404,0.000181642554996,1.04002050969,0.587308996957,0.00885588944443,1.03969221421
+286,4.766666667,pose2_to_pose3_retreat,0.616592939509,0.000181816000973,1.04002096059,0.587164086204,0.00885605263716,1.03969265388
+287,4.783333333,pose2_to_pose3_retreat,0.616434328589,0.000181750128511,1.04002050925,0.587005475529,0.00885598787673,1.03969221667
+288,4.800000000,pose2_to_pose3_retreat,0.616259037296,0.000181776871819,1.04002040756,0.586830184875,0.0088560167854,1.03969211846
+289,4.816666667,pose2_to_pose3_retreat,0.61606720161,0.00018176209486,1.04002046541,0.586638349749,0.0088560037533,1.0396921762
+290,4.833333333,pose2_to_pose3_retreat,0.615856888883,0.000181731761369,1.04002050079,0.586428037259,0.00885597398362,1.03969220992
+291,4.850000000,pose2_to_pose3_retreat,0.615627446868,0.000181781527782,1.04002043856,0.586198595103,0.00885602298826,1.03969214426
+292,4.866666667,pose2_to_pose3_retreat,0.615379233599,0.000181777598154,1.04002053644,0.58595038127,0.00885601700336,1.03969224444
+293,4.883333333,pose2_to_pose3_retreat,0.6151179131,0.00018187490766,1.04002031599,0.585689059649,0.00885611047611,1.039692032
+294,4.900000000,pose2_to_pose3_retreat,0.614844456529,0.000181668719227,1.04002038509,0.585415605229,0.00885591092778,1.03969208824
+295,4.916666667,pose2_to_pose3_retreat,0.614556103337,0.000181613903926,1.04002050596,0.585127252048,0.00885585577065,1.03969220304
+296,4.933333333,pose2_to_pose3_retreat,0.614250223234,0.000181786923318,1.04002055481,0.5848213695,0.00885602055458,1.03969225861
+297,4.950000000,pose2_to_pose3_retreat,0.613923585645,0.00018180153567,1.04002056335,0.584494732901,0.00885603827556,1.03969226619
+298,4.966666667,pose2_to_pose3_retreat,0.613569482837,0.00018193526979,1.04002076736,0.58414062938,0.00885616938881,1.03969246761
+299,4.983333333,pose2_to_pose3_retreat,0.613188646154,0.000181850260827,1.04002053544,0.583759793814,0.00885608819423,1.03969224207
+300,5.000000000,pose2_to_pose3_retreat,0.612781385228,0.000181726758988,1.04002062418,0.583352534314,0.00885596916429,1.03969232654
+301,5.016666667,pose2_to_pose3_retreat,0.612353225709,0.000181751720563,1.04002077501,0.582924374673,0.00885599337687,1.03969247242
+302,5.033333333,pose2_to_pose3_retreat,0.611908206697,0.000181836639501,1.04002061679,0.582479354541,0.00885607467871,1.03969232083
+303,5.050000000,pose2_to_pose3_retreat,0.611452022557,0.000181686692546,1.04002040118,0.58202317093,0.00885592695606,1.03969211584
+304,5.066666667,pose2_to_pose3_retreat,0.610986266546,0.000181786432334,1.04002062347,0.581557413508,0.00885602177059,1.03969233437
+305,5.083333333,pose2_to_pose3_retreat,0.610507109145,0.000181828951097,1.04002076432,0.581078255709,0.00885606262872,1.03969246716
+306,5.100000000,pose2_to_pose3_retreat,0.610011895468,0.000181710633946,1.04002059177,0.580583043529,0.00885594957056,1.03969229942
+307,5.116666667,pose2_to_pose3_retreat,0.609494019589,0.000181638857552,1.04002046808,0.580065168647,0.00885588115345,1.03969217501
+308,5.133333333,pose2_to_pose3_retreat,0.608957266469,0.000181720220617,1.04002056931,0.579528414838,0.0088559597276,1.03969226438
+309,5.150000000,pose2_to_pose3_retreat,0.608404578424,0.000181711246613,1.04002042808,0.578975727233,0.00885595267749,1.03969213447
+310,5.166666667,pose2_to_pose3_retreat,0.607837751037,0.000181741675893,1.04002068734,0.578408900574,0.00885598496365,1.03969237758
+311,5.183333333,pose2_to_pose3_retreat,0.607256668689,0.000181876314011,1.0400206131,0.577827815067,0.00885610924948,1.03969231283
+312,5.200000000,pose2_to_pose3_retreat,0.606651783053,0.000181865170788,1.04002054547,0.577222929887,0.00885609990441,1.03969225181
+313,5.216666667,pose2_to_pose3_retreat,0.606022020005,0.000181753595942,1.04002053405,0.576593169011,0.00885599579368,1.03969224284
+314,5.233333333,pose2_to_pose3_retreat,0.605367517974,0.000181708482518,1.0400205131,0.575938666297,0.00885594852454,1.03969222613
+315,5.250000000,pose2_to_pose3_retreat,0.604697229134,0.000181733238967,1.04002053631,0.575268376568,0.00885597005304,1.03969224374
+316,5.266666667,pose2_to_pose3_retreat,0.604014462499,0.000181713505979,1.04002055607,0.57458561201,0.00885595728148,1.0396922611
+317,5.283333333,pose2_to_pose3_retreat,0.603330095377,0.000181744836811,1.04002045358,0.573901243008,0.0088559822729,1.03969215965
+318,5.300000000,pose2_to_pose3_retreat,0.602642503582,0.000181770239209,1.04002045733,0.573213649755,0.0088560024689,1.03969215639
+319,5.316666667,pose2_to_pose3_retreat,0.601951283366,0.000181766177121,1.04002043298,0.572522429615,0.00885599886832,1.03969213738
+320,5.333333333,pose2_to_pose3_retreat,0.601253784292,0.000181713204327,1.04002039801,0.571824931519,0.00885594949923,1.03969210987
+321,5.350000000,pose2_to_pose3_retreat,0.600547062094,0.000181649499768,1.04002042049,0.571118210265,0.00885588878995,1.03969212677
+322,5.366666667,pose2_to_pose3_retreat,0.599833387598,0.000181736654935,1.04002043444,0.570404536939,0.00885597990401,1.03969214041
+323,5.383333333,pose2_to_pose3_retreat,0.599111807597,0.000181750830053,1.04002053783,0.569682956306,0.00885599180316,1.03969224028
+324,5.400000000,pose2_to_pose3_retreat,0.598381934703,0.00018176257244,1.04002053816,0.568953082622,0.00885600095769,1.03969224296
+325,5.416666667,pose2_to_pose3_retreat,0.597645966145,0.000181706400072,1.04002068952,0.568217114784,0.00885594715843,1.03969239246
+326,5.433333333,pose2_to_pose3_retreat,0.596905871028,0.000181729098178,1.04002079922,0.567477019551,0.0088559694179,1.03969250096
+327,5.450000000,pose2_to_pose3_retreat,0.596172543587,0.000181852412016,1.04002072422,0.566743690809,0.00885608836908,1.03969242718
+328,5.466666667,pose2_to_pose3_retreat,0.595453544353,0.000181916992234,1.04002055166,0.566024691354,0.00885615220892,1.03969225494
+329,5.483333333,pose2_to_pose3_retreat,0.5947447648,0.000181811549683,1.04002040838,0.565315912113,0.00885604816341,1.03969212052
+330,5.500000000,pose2_to_pose3_retreat,0.594044789988,0.000181715939123,1.04002052711,0.56461593906,0.00885595820015,1.03969223073
+331,5.516666667,pose2_to_pose3_retreat,0.593339897225,0.00018171072966,1.04002049352,0.563911045456,0.00885595004483,1.0396921946
+332,5.533333333,pose2_to_pose3_retreat,0.592629284368,0.000181751998071,1.04002045589,0.563200431923,0.00885598890773,1.03969215404
+333,5.550000000,pose2_to_pose3_retreat,0.591917285209,0.000181762940424,1.04002053607,0.562488433126,0.0088560009922,1.03969223183
+334,5.566666667,pose2_to_pose3_retreat,0.591203197285,0.00018171815057,1.04002063656,0.56177434483,0.0088559551745,1.03969233854
+335,5.583333333,pose2_to_pose3_retreat,0.590487738104,0.000181811253482,1.04002029951,0.561058884379,0.00885604422445,1.03969200817
+336,5.600000000,pose2_to_pose3_retreat,0.589798108235,0.00018191341037,1.04002061024,0.560369256399,0.00885615278381,1.03969231865
+337,5.616666667,pose2_to_pose3_retreat,0.589129230477,0.000181724222666,1.0400205763,0.559700379991,0.00885596811828,1.03969228321
+338,5.633333333,pose2_to_pose3_retreat,0.588471337516,0.00018165550382,1.04002062516,0.559042486518,0.0088558974826,1.03969232728
+339,5.650000000,pose2_to_pose3_retreat,0.587827787042,0.000181658115858,1.04002065191,0.558398935832,0.00885589923784,1.03969235036
+340,5.666666667,pose2_to_pose3_retreat,0.587200743076,0.000181679483166,1.04002057103,0.557771892173,0.00885592171488,1.0396922712
+341,5.683333333,pose2_to_pose3_retreat,0.586582333657,0.000181835119157,1.04002053165,0.557153480351,0.00885606948549,1.03969223944
+342,5.700000000,pose2_to_pose3_retreat,0.585972934912,0.000181792041445,1.04002041796,0.556544082728,0.00885603036895,1.0396921298
+343,5.716666667,pose2_to_pose3_retreat,0.585381153133,0.000181744247671,1.04002052229,0.555952301075,0.0088559827169,1.03969222658
+344,5.733333333,pose2_to_pose3_retreat,0.584805605277,0.000181852612993,1.04002054878,0.55537675101,0.00885608360094,1.03969225337
+345,5.750000000,pose2_to_pose3_retreat,0.584243601768,0.000181844803075,1.0400206195,0.554814748517,0.00885607909492,1.03969232033
+346,5.766666667,pose2_to_pose3_retreat,0.583697578771,0.000181738438746,1.04002067412,0.554268727781,0.00885598004021,1.03969236541
+347,5.783333333,pose2_to_pose3_retreat,0.583170883816,0.000181806566631,1.04002050706,0.553742029204,0.00885603581082,1.03969219652
+348,5.800000000,pose2_to_pose3_retreat,0.582662534173,0.000181578776522,1.04002058089,0.553233683747,0.00885582241741,1.03969227549
+349,5.816666667,pose2_to_pose3_retreat,0.582174862706,0.000181726382268,1.0400205654,0.552746010833,0.00885596537574,1.03969226694
+350,5.833333333,pose2_to_pose3_retreat,0.581712597328,0.000181750648989,1.04002042198,0.552283745814,0.00885599087543,1.03969212394
+351,5.850000000,pose2_to_pose3_retreat,0.581267556658,0.000181735935149,1.04002053418,0.551838705246,0.00885597649026,1.03969223568
+352,5.866666667,pose2_to_pose3_retreat,0.580833888581,0.000181722136033,1.04002068328,0.551405036914,0.00885596196512,1.03969238834
+353,5.883333333,pose2_to_pose3_retreat,0.580410595522,0.000181715116956,1.04002037861,0.550981744399,0.00885595708733,1.03969209157
+354,5.900000000,pose2_to_pose3_retreat,0.579999084512,0.000181875686579,1.04002027318,0.550570231639,0.00885611174435,1.03969198685
+355,5.916666667,pose2_to_pose3_retreat,0.579609732764,0.000181674086324,1.04002052793,0.550180881523,0.00885591533286,1.03969223239
+356,5.933333333,pose2_to_pose3_retreat,0.579245557032,0.000181854516131,1.04002063457,0.549816703657,0.0088560886411,1.03969234208
+357,5.950000000,pose2_to_pose3_retreat,0.578913782953,0.000181846436371,1.04002058195,0.549484930517,0.00885608377232,1.03969229043
+358,5.966666667,pose2_to_pose3_retreat,0.578608762858,0.000181774959382,1.04002059351,0.549179911788,0.00885601678574,1.03969229831
+359,5.983333333,pose2_to_pose3_retreat,0.578328490367,0.000181790029576,1.04002064747,0.548899639041,0.00885603087609,1.03969234927
+360,6.000000000,pose2_to_pose3_retreat,0.578063103396,0.000181959948188,1.04002052826,0.548634249852,0.00885619351937,1.0396922366
+361,6.016666667,pose2_to_pose3_retreat,0.577810881392,0.00018172405689,1.04002043842,0.548382029555,0.00885596335738,1.03969214529
+362,6.033333333,pose2_to_pose3_retreat,0.577568752833,0.000181650470216,1.04002046063,0.54813990236,0.00885589404009,1.0396921579
+363,6.050000000,pose2_to_pose3_retreat,0.577338189926,0.000181618924734,1.04002051828,0.547909339697,0.00885586343001,1.03969221835
+364,6.066666667,pose2_to_pose3_retreat,0.577122731253,0.000181678056637,1.04002053425,0.547693880037,0.0088559195417,1.03969224299
+365,6.083333333,pose2_to_pose3_retreat,0.57692444381,0.000181773751173,1.04002051569,0.547495591598,0.00885601199062,1.03969222803
+366,6.100000000,pose2_to_pose3_retreat,0.576745236053,0.00018175502845,1.04002042913,0.547316384091,0.00885599411034,1.03969214137
+367,6.116666667,pose2_to_pose3_retreat,0.5765870437,0.000181681262156,1.04002018435,0.547158192337,0.00885592238686,1.03969189689
+368,6.133333333,pose2_to_pose3_retreat,0.576448822954,0.000181809565986,1.04002041838,0.547019969846,0.00885604446299,1.03969212287
+369,6.150000000,pose2_to_pose3_retreat,0.576329136184,0.000181666074042,1.04002064072,0.546900285516,0.00885590907167,1.03969234059
+370,6.166666667,pose2_to_pose3_retreat,0.576224290734,0.000181689824986,1.04002060424,0.546795440848,0.00885593561148,1.03969230765
+371,6.183333333,pose2_to_pose3_retreat,0.576132637649,0.000181769271142,1.04002060861,0.546703786349,0.00885601025732,1.03969231194
+372,6.200000000,pose2_to_pose3_retreat,0.576051045492,0.000181810934987,1.04002067344,0.546622192337,0.00885604545864,1.0396923725
+373,6.216666667,pose2_to_pose3_retreat,0.575979073901,0.000181756522273,1.04002057853,0.546550221887,0.00885599492648,1.03969227816
+374,6.233333333,pose2_to_pose3_retreat,0.575916477296,0.000181757075515,1.04002067236,0.546487627305,0.00885600232711,1.0396923716
+375,6.250000000,pose2_to_pose3_retreat,0.575862832472,0.000181765285059,1.04002057762,0.54643398096,0.0088560056806,1.03969228487
+376,6.266666667,pose2_to_pose3_retreat,0.575818783743,0.000181769390677,1.0400205778,0.546389933111,0.00885601304821,1.03969229229
+377,6.283333333,pose2_to_pose3_retreat,0.575782709482,0.000181744386943,1.04002059931,0.546353859681,0.0088559908121,1.03969231231
+378,6.300000000,pose2_to_pose3_retreat,0.575754163771,0.000181704112617,1.040020555,0.546325312508,0.00885594522686,1.03969225873
+379,6.316666667,pose2_to_pose3_retreat,0.575731046717,0.000181804562128,1.04002053512,0.546302194575,0.00885604294015,1.03969224545
+380,6.333333333,pose2_to_pose3_retreat,0.575713128454,0.000181832311053,1.04002064001,0.546284275455,0.00885606746895,1.03969234206
+381,6.350000000,pose2_to_pose3_retreat,0.575699174719,0.000181864837483,1.04002063343,0.546270321262,0.00885609841478,1.03969233479
+382,6.366666667,pose2_to_pose3_retreat,0.575688679109,0.000181877122382,1.04002053921,0.546259825691,0.00885611107089,1.03969224687
+383,6.383333333,pose2_to_pose3_retreat,0.575681567465,0.000181734525867,1.04002054011,0.546252714842,0.00885597116281,1.03969224755
+384,6.400000000,pose2_to_pose3_retreat,0.575676797801,0.000181745189831,1.04002048511,0.54624794498,0.00885598118569,1.03969219336
+385,6.416666667,pose2_to_pose3_retreat,0.575673942871,0.000181799293949,1.04002042723,0.546245089605,0.00885603380884,1.0396921364
+386,6.433333333,pose2_to_pose3_retreat,0.575672127736,0.00018179243334,1.04002051253,0.54624327443,0.00885602667199,1.03969221786
+387,6.450000000,pose2_to_pose3_retreat,0.575671044104,0.000181761574206,1.04002064264,0.546242190933,0.00885599607953,1.03969234283
+388,6.466666667,pose2_to_pose3_retreat,0.575670364195,0.000181742212102,1.04002072428,0.546241511109,0.00885597688474,1.03969242123
+389,6.483333333,pose2_to_pose3_retreat,0.575669875543,0.000181728296498,1.04002078296,0.546241022517,0.00885596308939,1.03969247759
+390,6.500000000,pose2_to_pose3_retreat,0.575669436997,0.000181716600059,1.04002083351,0.546240584049,0.00885595158601,1.0396925262
+391,6.516666667,pose2_to_pose3_retreat,0.575669159061,0.000181723273585,1.040020828,0.546240306581,0.00885595989581,1.03969252216
+392,6.533333333,pose2_to_pose3_retreat,0.575668994151,0.000181727233252,1.04002082473,0.546240141947,0.00885596482634,1.03969251976
+393,6.550000000,pose2_to_pose3_retreat,0.575668941671,0.000181728493367,1.04002082369,0.546240089555,0.00885596639542,1.039692519
+394,6.566666667,pose2_to_pose3_retreat,0.575668892526,0.000181729673389,1.04002082272,0.546240040493,0.00885596786477,1.03969251829
+395,6.583333333,pose2_to_pose3_retreat,0.575668829485,0.000181731187072,1.04002082147,0.546239977557,0.00885596974959,1.03969251737
+396,6.600000000,pose2_to_pose3_retreat,0.575668732074,0.000181733526026,1.04002081954,0.546239880309,0.00885597266202,1.03969251595
+397,6.616666667,pose2_to_pose3_retreat,0.575668391171,0.000181741711476,1.04002081279,0.546239539979,0.00885598285445,1.039692511
+398,6.633333333,pose2_to_pose3_retreat,0.575667995973,0.000181751200604,1.04002080496,0.546239145444,0.00885599467019,1.03969250525
+399,6.650000000,pose2_to_pose3_retreat,0.575667646157,0.000181761150851,1.04002077324,0.546238796081,0.00885600622894,1.0396924756
+400,6.666666667,pose2_to_pose3_retreat,0.575667354792,0.00018177870717,1.04002059868,0.546238504282,0.00885602242987,1.03969230406
+401,6.683333333,pose2_to_pose3_retreat,0.575667244296,0.000181785365143,1.04002053248,0.546238393622,0.00885602857382,1.039692239
+402,6.700000000,pose2_to_pose3_retreat,0.575667064861,0.000181796177071,1.04002042498,0.54623821392,0.00885603855104,1.03969213336
+403,6.716666667,pose2_to_pose3_retreat,0.575666896054,0.00018180634861,1.04002032385,0.546238044862,0.00885604793731,1.03969203397
+404,6.733333333,pose2_to_pose3_retreat,0.575666801176,0.000181819483819,1.04002031423,0.546237949413,0.00885605910626,1.03969202365
+405,6.750000000,pose2_to_pose3_retreat,0.575666737354,0.000181842800668,1.04002039995,0.546237884366,0.00885607812373,1.0396921056
+406,6.766666667,pose2_to_pose3_retreat,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.008856095796,1.03969213895

Part2/Obstacle_avoidance/cylinder_15A_10/position_02/depth_02/fem_node.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ac5da6797ae55ac4f0dc8605b0aaaca290ca5ce1231acfca08d8964862e5fef
+size 25774379

Part2/Obstacle_avoidance/cylinder_15A_10/position_02/depth_02/simulation_data.csv

@@ -0,0 +1,407 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+1,0.016666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+2,0.033333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+3,0.050000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+4,0.066666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+5,0.083333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+6,0.100000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+7,0.116666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+8,0.133333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+9,0.150000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+10,0.166666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+11,0.183333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+12,0.200000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+13,0.216666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+14,0.233333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+15,0.250000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+16,0.266666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+17,0.283333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+18,0.300000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+19,0.316666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+20,0.333333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+21,0.350000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+22,0.366666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+23,0.383333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+24,0.400000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+25,0.416666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+26,0.433333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+27,0.450000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+28,0.466666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+29,0.483333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+30,0.500000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+31,0.516666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+32,0.533333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+33,0.550000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+34,0.566666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+35,0.583333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+36,0.600000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+37,0.616666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+38,0.633333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+39,0.650000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+40,0.666666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+41,0.683333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+42,0.700000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+43,0.716666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+44,0.733333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+45,0.750000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+46,0.766666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+47,0.783333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+48,0.800000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+49,0.816666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+50,0.833333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+51,0.850000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+52,0.866666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+53,0.883333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+54,0.900000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+55,0.916666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+56,0.933333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+57,0.950000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+58,0.966666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+59,0.983333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+60,1.000000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+61,1.016666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+62,1.033333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+63,1.050000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+64,1.066666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+65,1.083333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+66,1.100000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+67,1.116666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+68,1.133333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+69,1.150000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+70,1.166666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+71,1.183333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+72,1.200000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+73,1.216666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+74,1.233333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+75,1.250000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+76,1.266666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+77,1.283333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+78,1.300000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+79,1.316666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+80,1.333333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+81,1.350000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+82,1.366666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+83,1.383333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+84,1.400000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+85,1.416666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+86,1.433333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+87,1.450000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+88,1.466666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+89,1.483333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+90,1.500000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+91,1.516666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+92,1.533333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+93,1.550000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+94,1.566666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+95,1.583333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+96,1.600000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+97,1.616666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+98,1.633333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+99,1.650000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+100,1.666666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+101,1.683333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+102,1.700000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+103,1.716666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+104,1.733333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+105,1.750000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+106,1.766666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+107,1.783333333,pose1_to_pose2_press,0.575666710209,0.000181852718045,1.0400204364,0.546237856699,0.00885608621235,1.03969214046
+108,1.800000000,pose1_to_pose2_press,0.575666744161,0.000181855032855,1.04002041221,0.54623789077,0.00885608894217,1.0396921166
+109,1.816666667,pose1_to_pose2_press,0.575666789552,0.000181858127569,1.04002037988,0.54623793632,0.00885609259171,1.0396920847
+110,1.833333333,pose1_to_pose2_press,0.575666815373,0.00018185988804,1.04002036148,0.546237962231,0.00885609466781,1.03969206656
+111,1.850000000,pose1_to_pose2_press,0.575666825471,0.000181860576503,1.04002035429,0.546237972365,0.0088560954797,1.03969205946
+112,1.866666667,pose1_to_pose2_press,0.575666899791,0.000181863500126,1.04002031307,0.546238046851,0.00885609898885,1.03969201876
+113,1.883333333,pose1_to_pose2_press,0.575667072277,0.000181843911739,1.04002036179,0.546238218581,0.00885607678607,1.03969206613
+114,1.900000000,pose1_to_pose2_press,0.575668018596,0.000181810780028,1.04002036989,0.546239164356,0.00885604178865,1.03969207379
+115,1.916666667,pose1_to_pose2_press,0.575671048823,0.000181784257544,1.04002050354,0.546242197275,0.00885602440653,1.03969220759
+116,1.933333333,pose1_to_pose2_press,0.575679208363,0.000181857752932,1.04002054011,0.546250354687,0.00885609111465,1.03969225548
+117,1.950000000,pose1_to_pose2_press,0.575694476819,0.000181767257514,1.0400204692,0.546265625055,0.00885600681469,1.0396921768
+118,1.966666667,pose1_to_pose2_press,0.575720391363,0.000181952969838,1.04002037288,0.546291536632,0.00885618286661,1.03969209118
+119,1.983333333,pose1_to_pose2_press,0.575757095965,0.000181714751257,1.04002040005,0.546328243385,0.0088559516251,1.03969210974
+120,2.000000000,pose1_to_pose2_press,0.575804149266,0.000181700114291,1.04002052237,0.546375298146,0.00885594188352,1.03969223049
+121,2.016666667,pose1_to_pose2_press,0.575859366311,0.000181793729858,1.04002050539,0.546430514873,0.00885603468025,1.03969222029
+122,2.033333333,pose1_to_pose2_press,0.575922471509,0.000181756058867,1.04002047143,0.546493618469,0.0088559908594,1.03969216735
+123,2.050000000,pose1_to_pose2_press,0.575991787109,0.000181624324672,1.04002043578,0.546562936842,0.00885586886683,1.03969214056
+124,2.066666667,pose1_to_pose2_press,0.576067618529,0.000181736717494,1.04002052102,0.546638767542,0.00885597900642,1.0396922307
+125,2.083333333,pose1_to_pose2_press,0.576154156647,0.000181787617418,1.04002045233,0.546725304365,0.00885602537992,1.03969215834
+126,2.100000000,pose1_to_pose2_press,0.576251836391,0.000181711996194,1.04002049635,0.546822984622,0.00885595155407,1.03969220389
+127,2.116666667,pose1_to_pose2_press,0.576362338165,0.000181710683204,1.04002068061,0.546933487297,0.0088559531367,1.03969238397
+128,2.133333333,pose1_to_pose2_press,0.576486779227,0.000181746670379,1.04002071559,0.547057927555,0.00885598625377,1.0396924151
+129,2.150000000,pose1_to_pose2_press,0.576626495519,0.000181762573653,1.04002056123,0.547197641981,0.0088559959332,1.03969226351
+130,2.166666667,pose1_to_pose2_press,0.576781450318,0.000181827960346,1.04002053076,0.547352597032,0.00885606228789,1.03969223593
+131,2.183333333,pose1_to_pose2_press,0.576952483056,0.000181827882719,1.04002041117,0.547523631731,0.00885606906277,1.03969212157
+132,2.200000000,pose1_to_pose2_press,0.577143298155,0.000181824506837,1.04002044162,0.54771444689,0.00885606558126,1.03969214374
+133,2.216666667,pose1_to_pose2_press,0.57735334769,0.000181724598769,1.04002038347,0.547924496285,0.00885596565306,1.0396920976
+134,2.233333333,pose1_to_pose2_press,0.577584423757,0.000181785897793,1.04002050484,0.548155571137,0.00885602264866,1.03969221422
+135,2.250000000,pose1_to_pose2_press,0.577835001367,0.000181670870633,1.04002056493,0.548406150209,0.00885591231938,1.03969226726
+136,2.266666667,pose1_to_pose2_press,0.578104102673,0.000181757513936,1.04002055568,0.548675251058,0.00885599747843,1.03969225972
+137,2.283333333,pose1_to_pose2_press,0.578393065705,0.000181861312847,1.04002045517,0.548964212385,0.00885609579797,1.03969216724
+138,2.300000000,pose1_to_pose2_press,0.578698687162,0.000181814500164,1.04002045543,0.549269833943,0.00885604932591,1.03969216743
+139,2.316666667,pose1_to_pose2_press,0.579016389752,0.000181753921988,1.04002055655,0.549587537326,0.00885599113201,1.03969226033
+140,2.333333333,pose1_to_pose2_press,0.579347471192,0.000181787542572,1.04002054563,0.549918618083,0.00885602231071,1.03969224611
+141,2.350000000,pose1_to_pose2_press,0.579694393611,0.000181773928374,1.04002044131,0.550265540864,0.0088560100936,1.03969214626
+142,2.366666667,pose1_to_pose2_press,0.580057974089,0.000181766597781,1.04002054019,0.550629121659,0.00885600388741,1.03969224638
+143,2.383333333,pose1_to_pose2_press,0.580442311912,0.000181743774502,1.0400204422,0.551013460415,0.00885598436294,1.03969215187
+144,2.400000000,pose1_to_pose2_press,0.580862542481,0.00018170111723,1.04002051746,0.55143369058,0.00885594009415,1.03969222071
+145,2.416666667,pose1_to_pose2_press,0.581313704178,0.000181842983071,1.04002069773,0.551884851625,0.00885607981309,1.03969240272
+146,2.433333333,pose1_to_pose2_press,0.581791793534,0.000181788964412,1.04002061131,0.55236294141,0.0088560271707,1.03969231415
+147,2.450000000,pose1_to_pose2_press,0.582285511798,0.000181684274455,1.0400204378,0.552856660437,0.00885592508614,1.03969214105
+148,2.466666667,pose1_to_pose2_press,0.582789634521,0.000181735710695,1.04002041219,0.553360783197,0.00885597689279,1.03969212182
+149,2.483333333,pose1_to_pose2_press,0.583296980231,0.000181753394108,1.04002039845,0.553868128557,0.00885599345869,1.03969210995
+150,2.500000000,pose1_to_pose2_press,0.583813493754,0.000181777245946,1.04002041122,0.554384641993,0.00885601723073,1.03969212842
+151,2.516666667,pose1_to_pose2_press,0.584357624817,0.000181762278508,1.04002078559,0.554928773103,0.00885600196039,1.0396924905
+152,2.533333333,pose1_to_pose2_press,0.58492717353,0.000181875003375,1.04002068468,0.555498320697,0.00885611090593,1.03969239003
+153,2.550000000,pose1_to_pose2_press,0.585519113722,0.000181714266808,1.04002038931,0.556090263972,0.00885596056747,1.03969209303
+154,2.566666667,pose1_to_pose2_press,0.586127410233,0.000181809253937,1.0400204664,0.556698557656,0.00885604606668,1.03969217285
+155,2.583333333,pose1_to_pose2_press,0.586746533526,0.000181733358214,1.04002062216,0.557317681701,0.00885597259951,1.03969232535
+156,2.600000000,pose1_to_pose2_press,0.587370545773,0.000181665682657,1.04002057983,0.557941694732,0.00885590740202,1.03969227828
+157,2.616666667,pose1_to_pose2_press,0.588006596872,0.000181762037859,1.04002053683,0.558577744647,0.00885599974659,1.03969223541
+158,2.633333333,pose1_to_pose2_press,0.58866469069,0.000181827135784,1.04002062324,0.55923583847,0.00885606499453,1.03969232538
+159,2.650000000,pose1_to_pose2_press,0.589338355915,0.000181718061826,1.04002045581,0.559909503886,0.00885595662723,1.0396921595
+160,2.666666667,pose1_to_pose2_press,0.590023639237,0.000181834258474,1.04002054866,0.560594787426,0.00885607363671,1.03969225424
+161,2.683333333,pose1_to_pose2_press,0.590720878252,0.000181797097131,1.04002053842,0.561292026153,0.00885603561273,1.03969224706
+162,2.700000000,pose1_to_pose2_press,0.59142901316,0.00018168460507,1.04002043742,0.562000163084,0.00885592997089,1.03969214578
+163,2.716666667,pose1_to_pose2_press,0.59213920156,0.00018178311774,1.0400204381,0.562710348917,0.00885601960469,1.03969214199
+164,2.733333333,pose1_to_pose2_press,0.592858899244,0.000181676065559,1.04002042159,0.563430048058,0.0088559176225,1.03969212891
+165,2.750000000,pose1_to_pose2_press,0.593595698788,0.000181662547239,1.0400205705,0.564166847711,0.00885590429874,1.03969227315
+166,2.766666667,pose1_to_pose2_press,0.594335773484,0.000181747311354,1.04002050998,0.564906921581,0.00885598634731,1.03969221499
+167,2.783333333,pose1_to_pose2_press,0.595077191889,0.00018176040919,1.04002039726,0.56564834006,0.00885600003384,1.03969211127
+168,2.800000000,pose1_to_pose2_press,0.595809317647,0.000181773501989,1.04002062217,0.566380464514,0.00885600849122,1.03969233055
+169,2.816666667,pose1_to_pose2_press,0.596534441565,0.000181879730656,1.04002056398,0.567105586663,0.0088561084841,1.03969226631
+170,2.833333333,pose1_to_pose2_press,0.597263899863,0.000181793120723,1.0400205265,0.567835047549,0.00885603096159,1.03969223694
+171,2.850000000,pose1_to_pose2_press,0.597994640549,0.000181738909603,1.04002044027,0.568565788568,0.00885597771103,1.03969214634
+172,2.866666667,pose1_to_pose2_press,0.598723163342,0.000181804948206,1.04002052927,0.569294310098,0.00885603938191,1.03969223316
+173,2.883333333,pose1_to_pose2_press,0.599460097844,0.000181824352436,1.04002054584,0.570031244908,0.00885605991617,1.03969225203
+174,2.900000000,pose1_to_pose2_press,0.600200122431,0.000181831352807,1.04002068363,0.570771269911,0.00885606830163,1.03969238921
+175,2.916666667,pose1_to_pose2_press,0.600934198875,0.000181829209718,1.04002054969,0.571505346612,0.00885606713258,1.03969225794
+176,2.933333333,pose1_to_pose2_press,0.601661217058,0.000181827135012,1.04002033002,0.572232364869,0.00885606542017,1.03969204129
+177,2.950000000,pose1_to_pose2_press,0.602375924888,0.000181789992522,1.04002034551,0.572947072974,0.00885602919609,1.03969205651
+178,2.966666667,pose1_to_pose2_press,0.603086745015,0.000181689771488,1.04002020011,0.573657893896,0.00885593186082,1.03969191608
+179,2.983333333,pose1_to_pose2_press,0.60379667941,0.000181880246501,1.0400205383,0.57436782456,0.00885610926162,1.03969224341
+180,3.000000000,pose1_to_pose2_press,0.604494091467,0.000181805744155,1.04002039698,0.575065237602,0.00885603836513,1.03969210905
+181,3.016666667,pose1_to_pose2_press,0.605181684778,0.000181812846685,1.04002053184,0.575752831962,0.00885604880095,1.03969223808
+182,3.033333333,pose1_to_pose2_press,0.605860401397,0.000181816388045,1.04002046458,0.576431548092,0.00885605058066,1.03969216817
+183,3.050000000,pose1_to_pose2_press,0.606526355417,0.000181776703703,1.04002034303,0.577097502984,0.00885601386112,1.03969204683
+184,3.066666667,pose1_to_pose2_press,0.607177835806,0.000181836035237,1.04002046406,0.577748982238,0.00885606929993,1.03969216678
+185,3.083333333,pose1_to_pose2_press,0.607815580277,0.000181966241801,1.04002045006,0.578386725421,0.00885619557089,1.03969216438
+186,3.100000000,pose1_to_pose2_press,0.608440661962,0.000181857127594,1.04002038054,0.579011808585,0.0088560915759,1.03969209761
+187,3.116666667,pose1_to_pose2_press,0.60903766117,0.000181623609276,1.04002046849,0.579608809769,0.00885586430737,1.0396921736
+188,3.133333333,pose1_to_pose2_press,0.609606562631,0.000181624558068,1.04002054929,0.580177711149,0.00885586494518,1.03969225353
+189,3.150000000,pose1_to_pose2_press,0.610149044527,0.000181631919787,1.04002052563,0.580720194376,0.00885587703649,1.03969223548
+190,3.166666667,pose1_to_pose2_press,0.610671076729,0.000181624095633,1.04002039169,0.581242225122,0.00885586447556,1.03969210703
+191,3.183333333,pose1_to_pose2_press,0.611175090317,0.000181763022196,1.04002047759,0.581746239114,0.00885600479622,1.03969219356
+192,3.200000000,pose1_to_pose2_press,0.611671597626,0.000181804206314,1.04002052831,0.582242745402,0.00885604228217,1.03969223772
+193,3.216666667,pose1_to_pose2_press,0.61215644712,0.000181706451136,1.04002049578,0.582727594982,0.00885594452638,1.03969219734
+194,3.233333333,pose1_to_pose2_press,0.612622661957,0.000181631408822,1.04002048772,0.583193811107,0.00885587393254,1.03969218971
+195,3.250000000,pose1_to_pose2_press,0.613067712259,0.000181693653833,1.04002045651,0.583638861459,0.0088559367787,1.03969216553
+196,3.266666667,pose1_to_pose2_press,0.613488993879,0.000181815403644,1.04002030064,0.584060140873,0.00885605133646,1.03969201195
+197,3.283333333,pose1_to_pose2_press,0.613897955551,0.000181843687929,1.04002041984,0.584469102436,0.00885607934102,1.0396921279
+198,3.300000000,pose1_to_pose2_press,0.614296578575,0.000181746502471,1.04002075971,0.584867725383,0.00885598214486,1.03969246639
+199,3.316666667,pose1_to_pose2_press,0.614679375776,0.00018181446548,1.04002055455,0.585250524699,0.00885605788021,1.0396922687
+200,3.333333333,pose1_to_pose2_press,0.615043829276,0.000181752599709,1.0400205211,0.585614977391,0.00885599341638,1.03969223285
+201,3.350000000,pose1_to_pose2_press,0.615382971864,0.00018170406541,1.0400207061,0.585954119554,0.00885594351432,1.039692412
+202,3.366666667,pose1_to_pose2_press,0.615694027569,0.000181684546867,1.04002064394,0.586265176122,0.00885592719998,1.03969235044
+203,3.383333333,pose1_to_pose2_press,0.615973759463,0.000181646513264,1.04002064036,0.586544908468,0.0088558908396,1.03969234445
+204,3.400000000,pose1_to_pose2_press,0.616234966529,0.000181654780443,1.04002074844,0.586806115015,0.00885589746169,1.03969244915
+205,3.416666667,pose1_to_pose2_press,0.616481436373,0.000181840076334,1.04002052225,0.587052584302,0.00885608156136,1.03969223444
+206,3.433333333,pose1_to_pose2_press,0.616717522266,0.00018181578192,1.0400205674,0.587288668348,0.00885605086143,1.03969226935
+207,3.450000000,pose1_to_pose2_press,0.616944668639,0.000181743318206,1.04002054062,0.587515815447,0.00885598131109,1.03969224881
+208,3.466666667,pose1_to_pose2_press,0.617161620153,0.000181847235677,1.04002063473,0.587732766821,0.00885608499338,1.03969234256
+209,3.483333333,pose1_to_pose2_press,0.617360789174,0.000181846596545,1.0400205576,0.587931935596,0.0088560838414,1.03969226705
+210,3.500000000,pose1_to_pose2_press,0.617538780049,0.000181751986195,1.04002074507,0.588109927187,0.00885599139844,1.03969244182
+211,3.516666667,pose1_to_pose2_press,0.617696167674,0.000181763819929,1.04002061093,0.588267314764,0.00885600318216,1.03969230786
+212,3.533333333,pose1_to_pose2_press,0.61783501291,0.000181752971404,1.04002055008,0.588406160134,0.00885599324502,1.03969225571
+213,3.550000000,pose1_to_pose2_press,0.617957528485,0.000181619572829,1.04002065359,0.588528677337,0.0088558656445,1.03969236253
+214,3.566666667,pose1_to_pose2_press,0.618066907459,0.000181521089402,1.04002063035,0.588638057523,0.00885577127038,1.03969233633
+215,3.583333333,pose1_to_pose2_press,0.61816429613,0.000181678519468,1.04002057389,0.588735443741,0.00885592043436,1.03969227737
+216,3.600000000,pose1_to_pose2_press,0.618249830779,0.000181861728631,1.04002065247,0.588820976531,0.00885609784197,1.03969235898
+217,3.616666667,pose1_to_pose2_press,0.618323581085,0.000181725139482,1.04002047619,0.588894726406,0.00885596007158,1.03969217452
+218,3.633333333,pose1_to_pose2_press,0.618386823647,0.000181795053501,1.04002064827,0.588957971201,0.00885603697873,1.039692351
+219,3.650000000,pose1_to_pose2_press,0.618440170479,0.000181750887572,1.04002055904,0.589011318051,0.00885599339365,1.03969226746
+220,3.666666667,pose1_to_pose2_press,0.618483076987,0.000181857508949,1.04002065708,0.589054222445,0.00885609235556,1.0396923546
+221,3.683333333,pose1_to_pose2_press,0.618518395392,0.000181871071332,1.04002077668,0.589089540501,0.00885610437252,1.03969247075
+222,3.700000000,pose1_to_pose2_press,0.618547035164,0.000181848342825,1.04002073525,0.589118180851,0.00885608380857,1.03969243359
+223,3.716666667,pose1_to_pose2_press,0.61856959491,0.000181902708952,1.04002055223,0.589140740371,0.00885613775803,1.03969225271
+224,3.733333333,pose1_to_pose2_press,0.618586932627,0.000181844122699,1.0400204388,0.589158079084,0.00885608259927,1.03969214416
+225,3.750000000,pose1_to_pose2_press,0.618600904508,0.000181862975022,1.04002097645,0.58917204977,0.00885609715884,1.03969267382
+226,3.766666667,pose1_to_pose2_press,0.618611364194,0.000181898575553,1.04002058906,0.589182508857,0.00885613090177,1.0396922935
+227,3.783333333,pose1_to_pose2_press,0.618618367217,0.000181916122255,1.04002039282,0.589189511867,0.00885614881548,1.03969210576
+228,3.800000000,pose1_to_pose2_press,0.618622994775,0.000181869623127,1.04002039856,0.589194139778,0.00885610350762,1.03969210968
+229,3.816666667,pose1_to_pose2_press,0.618625613893,0.000181784467607,1.04002043837,0.589196759338,0.00885601943982,1.03969213981
+230,3.833333333,pose1_to_pose2_press,0.618626923798,0.000181764442387,1.04002044302,0.589198069257,0.00885599944012,1.03969214405
+231,3.850000000,pose1_to_pose2_press,0.618627400904,0.000181758540853,1.04002044378,0.589198546354,0.00885599351589,1.03969214492
+232,3.866666667,pose1_to_pose2_press,0.618627685693,0.000181755018172,1.04002044423,0.589198831138,0.00885598997966,1.03969214545
+233,3.883333333,pose1_to_pose2_press,0.618627840313,0.0001817531056,1.04002044447,0.589198985756,0.00885598805973,1.03969214573
+234,3.900000000,pose1_to_pose2_press,0.61862788647,0.000181752534672,1.04002044455,0.589199031912,0.00885598748661,1.03969214581
+235,3.916666667,pose1_to_pose2_press,0.618628042765,0.000181750601384,1.04002044479,0.589199188205,0.00885598554589,1.0396921461
+236,3.933333333,pose1_to_pose2_press,0.618628320149,0.000181747815095,1.04002044929,0.58919946558,0.0088559827345,1.03969215065
+237,3.950000000,pose1_to_pose2_press,0.618628456254,0.000181752944071,1.04002049241,0.589199601648,0.00885598773127,1.03969219362
+238,3.966666667,pose1_to_pose2_press,0.618628549883,0.000181756472346,1.04002052206,0.58919969525,0.00885599116861,1.03969222317
+239,3.983333333,pose1_to_pose2_press,0.618628698103,0.000181762057837,1.04002056902,0.589199843428,0.00885599661013,1.03969226996
+240,4.000000000,pose1_to_pose2_press,0.618628870946,0.000181768571219,1.04002062377,0.589200016223,0.00885600295562,1.03969232452
+241,4.016666667,pose1_to_pose2_press,0.618629091555,0.000181776884565,1.04002069365,0.589200236769,0.00885601105469,1.03969239416
+242,4.033333333,pose1_to_pose2_press,0.618629453606,0.000181792472603,1.04002079513,0.589200598702,0.00885602624629,1.03969249563
+243,4.050000000,pose1_to_pose2_press,0.618629613838,0.000181821689399,1.04002068851,0.589200758682,0.00885605477387,1.0396923934
+244,4.066666667,pose1_to_pose2_press,0.618629795377,0.000181744516216,1.04002054036,0.58920094185,0.00885598317773,1.03969224685
+245,4.083333333,pose2_hold,0.618629795377,0.000181744516216,1.04002054036,0.589200941853,0.00885598317677,1.03969224685
+246,4.100000000,pose2_hold,0.618629795377,0.000181744516216,1.04002054036,0.589200941853,0.00885598317674,1.03969224685
+247,4.116666667,pose2_hold,0.618629795377,0.000181744516216,1.04002054036,0.589200941853,0.00885598317671,1.03969224685
+248,4.133333333,pose2_hold,0.618629795377,0.000181744516216,1.04002054036,0.589200941854,0.00885598317668,1.03969224685
+249,4.150000000,pose2_hold,0.618629795377,0.000181744516216,1.04002054036,0.589200941854,0.0088559831767,1.03969224685
+250,4.166666667,pose2_hold,0.618629795377,0.000181744516216,1.04002054036,0.589200941854,0.00885598317674,1.03969224685
+251,4.183333333,pose2_hold,0.618629795377,0.000181744516216,1.04002054036,0.589200941854,0.00885598317672,1.03969224685
+252,4.200000000,pose2_hold,0.618629795377,0.000181744516216,1.04002054036,0.589200941854,0.00885598317669,1.03969224685
+253,4.216666667,pose2_hold,0.618629795377,0.000181744516216,1.04002054036,0.589200941854,0.00885598317666,1.03969224685
+254,4.233333333,pose2_hold,0.618629795377,0.000181744516216,1.04002054036,0.589200941854,0.00885598317663,1.03969224685
+255,4.250000000,pose2_hold,0.618629795377,0.000181744516216,1.04002054036,0.589200941854,0.0088559831766,1.03969224685
+256,4.266666667,pose2_hold,0.618629795377,0.000181744516216,1.04002054036,0.589200941855,0.00885598317656,1.03969224685
+257,4.283333333,pose2_hold,0.618629795377,0.000181744516216,1.04002054036,0.589200941855,0.00885598317644,1.03969224685
+258,4.300000000,pose2_hold,0.618629795377,0.000181744516216,1.04002054036,0.589200941855,0.00885598317646,1.03969224685
+259,4.316666667,pose2_hold,0.618629795377,0.000181744516216,1.04002054036,0.589200941855,0.00885598317646,1.03969224685
+260,4.333333333,pose2_hold,0.618629795377,0.000181744516216,1.04002054036,0.589200941855,0.00885598317644,1.03969224685
+261,4.350000000,pose2_to_pose3_retreat,0.618629795377,0.000181744516216,1.04002054036,0.589200941855,0.00885598317628,1.03969224685
+262,4.366666667,pose2_to_pose3_retreat,0.618629782925,0.000181752171076,1.04002059626,0.589200929084,0.00885598970397,1.03969230171
+263,4.383333333,pose2_to_pose3_retreat,0.618629753912,0.000181770008373,1.04002072651,0.589200899324,0.00885600491473,1.03969242955
+264,4.400000000,pose2_to_pose3_retreat,0.618629678644,0.00018178174045,1.04002079848,0.589200823676,0.0088560152933,1.03969249989
+265,4.416666667,pose2_to_pose3_retreat,0.618629659418,0.000181782408042,1.04002079893,0.589200804459,0.00885601598334,1.03969250024
+266,4.433333333,pose2_to_pose3_retreat,0.618629586199,0.00018178495051,1.04002080065,0.58920073127,0.00885601861133,1.03969250156
+267,4.450000000,pose2_to_pose3_retreat,0.618629504077,0.000181787802138,1.04002080257,0.589200649182,0.00885602155887,1.03969250304
+268,4.466666667,pose2_to_pose3_retreat,0.61862946155,0.000181789278846,1.04002080357,0.589200606673,0.00885602308525,1.0396925038
+269,4.483333333,pose2_to_pose3_retreat,0.618628692269,0.000181705555301,1.04002050666,0.589199838178,0.00885594217601,1.03969221073
+270,4.500000000,pose2_to_pose3_retreat,0.618625278228,0.000181899142593,1.04002053775,0.589196422555,0.00885613049278,1.03969224399
+271,4.516666667,pose2_to_pose3_retreat,0.618617806206,0.000181725000062,1.04002052926,0.58918895338,0.00885596606862,1.03969223706
+272,4.533333333,pose2_to_pose3_retreat,0.618602377511,0.000181825274576,1.0400204313,0.589173523553,0.00885606259429,1.0396921414
+273,4.550000000,pose2_to_pose3_retreat,0.618578465449,0.000181823090812,1.0400207766,0.589149612957,0.00885606516132,1.03969248038
+274,4.566666667,pose2_to_pose3_retreat,0.618545419954,0.000181864947804,1.04002054242,0.589116566426,0.00885610350357,1.03969224947
+275,4.583333333,pose2_to_pose3_retreat,0.61850366612,0.000181839744197,1.04002054271,0.589074812052,0.00885607626523,1.03969224783
+276,4.600000000,pose2_to_pose3_retreat,0.618453081043,0.000181793219677,1.04002048629,0.589024227557,0.00885603207355,1.03969219254
+277,4.616666667,pose2_to_pose3_retreat,0.618396476289,0.000181724119379,1.04002048953,0.588967623492,0.00885596462414,1.03969219211
+278,4.633333333,pose2_to_pose3_retreat,0.618333900126,0.000181665788511,1.04002058611,0.588905048848,0.00885591095069,1.03969229096
+279,4.650000000,pose2_to_pose3_retreat,0.618262813005,0.000181729409654,1.04002065897,0.58883396075,0.00885597186913,1.03969236411
+280,4.666666667,pose2_to_pose3_retreat,0.618183218918,0.000181814708753,1.04002059973,0.588754365189,0.00885605172101,1.03969229585
+281,4.683333333,pose2_to_pose3_retreat,0.618092392311,0.00018177573708,1.04002065012,0.5886635384,0.0088560122713,1.03969235255
+282,4.700000000,pose2_to_pose3_retreat,0.617988551425,0.000181832183191,1.0400204509,0.588559696595,0.00885606565334,1.03969215796
+283,4.716666667,pose2_to_pose3_retreat,0.617869411112,0.000181783441482,1.04002052707,0.588440556898,0.00885601868796,1.03969222945
+284,4.733333333,pose2_to_pose3_retreat,0.617735072335,0.000181658494305,1.04002076458,0.588306219857,0.00885589918543,1.03969245925
+285,4.750000000,pose2_to_pose3_retreat,0.617585857704,0.000181690928252,1.04002056227,0.588157005491,0.00885593251748,1.03969226138
+286,4.766666667,pose2_to_pose3_retreat,0.617421047328,0.000181748400613,1.04002052465,0.587992196142,0.00885599378583,1.03969223534
+287,4.783333333,pose2_to_pose3_retreat,0.617241783486,0.00018182826753,1.04002042195,0.58781293066,0.00885606793021,1.03969213568
+288,4.800000000,pose2_to_pose3_retreat,0.617047516522,0.000181827947733,1.04002050374,0.587618662154,0.0088560617856,1.03969220923
+289,4.816666667,pose2_to_pose3_retreat,0.616835208752,0.000181755170005,1.04002051488,0.587406354941,0.00885599056754,1.03969221482
+290,4.833333333,pose2_to_pose3_retreat,0.616602252928,0.00018168348808,1.04002048229,0.587173400271,0.00885592274685,1.0396921844
+291,4.850000000,pose2_to_pose3_retreat,0.616349620294,0.000181708154909,1.04002053364,0.586920767218,0.00885594582646,1.03969224064
+292,4.866666667,pose2_to_pose3_retreat,0.616078972075,0.000181846794435,1.04002055753,0.586650118959,0.00885608397729,1.03969226039
+293,4.883333333,pose2_to_pose3_retreat,0.615792125112,0.000181812398707,1.04002054628,0.586363271956,0.00885604928258,1.03969225251
+294,4.900000000,pose2_to_pose3_retreat,0.615491807095,0.00018182909925,1.04002063245,0.586062953706,0.00885606479442,1.03969233783
+295,4.916666667,pose2_to_pose3_retreat,0.615178294941,0.000181876963547,1.04002074614,0.585749441034,0.00885611050603,1.03969244837
+296,4.933333333,pose2_to_pose3_retreat,0.61484511139,0.00018186798965,1.04002070111,0.585416258343,0.00885610418869,1.03969240232
+297,4.950000000,pose2_to_pose3_retreat,0.614489812962,0.000181749255341,1.04002046328,0.58506096259,0.00885599444355,1.03969216866
+298,4.966666667,pose2_to_pose3_retreat,0.614107080424,0.000181666742954,1.04002064149,0.584678228941,0.00885590807206,1.03969235159
+299,4.983333333,pose2_to_pose3_retreat,0.613698191685,0.000181859429538,1.04002059816,0.584269338165,0.00885609322831,1.0396922971
+300,5.000000000,pose2_to_pose3_retreat,0.613262666752,0.000181882047829,1.04002060414,0.583833812791,0.00885611474615,1.03969231645
+301,5.016666667,pose2_to_pose3_retreat,0.612808758342,0.000181749057649,1.04002059136,0.58337990589,0.00885598647744,1.03969229934
+302,5.033333333,pose2_to_pose3_retreat,0.612337970509,0.00018174759188,1.04002065772,0.582909119215,0.00885598858423,1.0396923614
+303,5.050000000,pose2_to_pose3_retreat,0.611855347322,0.000181840075941,1.04002074423,0.582426496119,0.00885608153645,1.03969245338
+304,5.066666667,pose2_to_pose3_retreat,0.611361195278,0.00018172089394,1.04002063287,0.581932344331,0.00885596312028,1.03969233926
+305,5.083333333,pose2_to_pose3_retreat,0.610852004032,0.000181763915116,1.04002035166,0.581423151643,0.00885600106926,1.03969205334
+306,5.100000000,pose2_to_pose3_retreat,0.610327228466,0.000181800404002,1.04002051765,0.580898375601,0.00885603581821,1.03969221607
+307,5.116666667,pose2_to_pose3_retreat,0.609784894982,0.000181882245527,1.04002054703,0.58035604168,0.00885611645393,1.03969225268
+308,5.133333333,pose2_to_pose3_retreat,0.609227623594,0.000181868145194,1.04002048289,0.579798770215,0.00885610225251,1.03969219244
+309,5.150000000,pose2_to_pose3_retreat,0.608657145064,0.000181788996849,1.04002042379,0.57922829205,0.00885602425526,1.03969213046
+310,5.166666667,pose2_to_pose3_retreat,0.608065394542,0.000181867573457,1.04002042794,0.578636541924,0.00885610424905,1.03969213645
+311,5.183333333,pose2_to_pose3_retreat,0.607452302992,0.00018182873143,1.04002062557,0.578023449895,0.00885606377103,1.03969233376
+312,5.200000000,pose2_to_pose3_retreat,0.606814374264,0.00018185557418,1.04002056441,0.577385521342,0.0088560911906,1.03969227213
+313,5.216666667,pose2_to_pose3_retreat,0.606153100606,0.000181824546704,1.04002045372,0.576724247762,0.00885606051547,1.03969216367
+314,5.233333333,pose2_to_pose3_retreat,0.605470241421,0.000181692829298,1.04002047013,0.576041390249,0.00885593444888,1.03969217942
+315,5.250000000,pose2_to_pose3_retreat,0.604777712004,0.000181657691526,1.04002049508,0.575348861698,0.00885590219233,1.03969220288
+316,5.266666667,pose2_to_pose3_retreat,0.604077222472,0.000181768710805,1.04002044456,0.574648370693,0.00885600819725,1.03969215187
+317,5.283333333,pose2_to_pose3_retreat,0.603372691007,0.000181686841847,1.04002054672,0.573943839896,0.00885592839012,1.03969224857
+318,5.300000000,pose2_to_pose3_retreat,0.602664145126,0.000181857227301,1.04002026009,0.573235293098,0.00885609631609,1.03969197899
+319,5.316666667,pose2_to_pose3_retreat,0.601953285372,0.000181885128865,1.04002054651,0.572524432899,0.00885612255619,1.03969226139
+320,5.333333333,pose2_to_pose3_retreat,0.601237480932,0.000181784386219,1.04002068404,0.57180862882,0.00885602251292,1.03969238502
+321,5.350000000,pose2_to_pose3_retreat,0.600514816496,0.000181752197182,1.04002068578,0.571085964827,0.00885599182835,1.0396923867
+322,5.366666667,pose2_to_pose3_retreat,0.599785187767,0.000181759061545,1.04002062298,0.570356336873,0.00885600153821,1.03969232955
+323,5.383333333,pose2_to_pose3_retreat,0.599046045332,0.000181722338493,1.04002055943,0.569617194915,0.00885596624726,1.03969226098
+324,5.400000000,pose2_to_pose3_retreat,0.598292398357,0.000181815421977,1.04002055082,0.568863544354,0.00885604725529,1.03969225478
+325,5.416666667,pose2_to_pose3_retreat,0.597534587378,0.000181735778086,1.04002037176,0.56810573492,0.00885597345808,1.0396920916
+326,5.433333333,pose2_to_pose3_retreat,0.596779712007,0.0001817261949,1.04002050603,0.567350859691,0.00885596391633,1.03969221422
+327,5.450000000,pose2_to_pose3_retreat,0.596036789196,0.000181779416947,1.04002054271,0.566607936213,0.00885601481286,1.03969224919
+328,5.466666667,pose2_to_pose3_retreat,0.595307337588,0.000181829185605,1.04002054827,0.565878484187,0.00885606313413,1.03969225394
+329,5.483333333,pose2_to_pose3_retreat,0.59458714341,0.000181826397435,1.04002050791,0.565158290524,0.00885606213376,1.03969221456
+330,5.500000000,pose2_to_pose3_retreat,0.593871205383,0.000181752555981,1.04002035745,0.564442353896,0.00885599333644,1.03969207189
+331,5.516666667,pose2_to_pose3_retreat,0.593153235946,0.000181628702731,1.04002015406,0.563724385278,0.00885587231554,1.03969186992
+332,5.533333333,pose2_to_pose3_retreat,0.592432687885,0.00018166299262,1.04002048014,0.563003837624,0.00885590764731,1.03969218704
+333,5.550000000,pose2_to_pose3_retreat,0.591711720679,0.000181733569889,1.04002064623,0.562282869961,0.00885597649808,1.03969234839
+334,5.566666667,pose2_to_pose3_retreat,0.590993548222,0.000181734632331,1.04002069019,0.56156469739,0.00885597710213,1.03969239047
+335,5.583333333,pose2_to_pose3_retreat,0.590281564801,0.00018174293394,1.04002067466,0.560852714005,0.00885598566725,1.03969237863
+336,5.600000000,pose2_to_pose3_retreat,0.589589948001,0.000181793935424,1.04002061864,0.560161096578,0.00885603477605,1.03969232876
+337,5.616666667,pose2_to_pose3_retreat,0.58891465523,0.000181804521724,1.04002055341,0.559485802503,0.00885604094839,1.03969226374
+338,5.633333333,pose2_to_pose3_retreat,0.588254558088,0.000181785748592,1.04002076653,0.558825706112,0.00885602462839,1.03969247433
+339,5.650000000,pose2_to_pose3_retreat,0.587608429966,0.000181644253779,1.04002073077,0.55817957994,0.00885588938346,1.03969242894
+340,5.666666667,pose2_to_pose3_retreat,0.586972898869,0.000181740451409,1.04002061502,0.557544046488,0.00885597767404,1.03969231535
+341,5.683333333,pose2_to_pose3_retreat,0.586347410498,0.00018176509242,1.04002049522,0.556918557897,0.0088560017062,1.03969219913
+342,5.700000000,pose2_to_pose3_retreat,0.585733550416,0.000181690297275,1.04002042267,0.556304699573,0.00885593299196,1.03969212968
+343,5.716666667,pose2_to_pose3_retreat,0.585137380385,0.000181668834307,1.04002044049,0.555708529903,0.00885591281449,1.03969214907
+344,5.733333333,pose2_to_pose3_retreat,0.584560464509,0.000181769458447,1.04002058355,0.555131612501,0.00885600799064,1.03969228501
+345,5.750000000,pose2_to_pose3_retreat,0.584002256375,0.00018162385936,1.04002077123,0.5545734062,0.00885586872992,1.0396924758
+346,5.766666667,pose2_to_pose3_retreat,0.583462792706,0.000181715520305,1.04002040273,0.554033942009,0.00885595882211,1.03969211266
+347,5.783333333,pose2_to_pose3_retreat,0.582942111156,0.000181800568713,1.0400203782,0.553513259346,0.00885603995382,1.03969208443
+348,5.800000000,pose2_to_pose3_retreat,0.582439773658,0.00018176474396,1.04002048582,0.553010922275,0.00885600551315,1.03969219032
+349,5.816666667,pose2_to_pose3_retreat,0.581958495601,0.000181708759178,1.04002057374,0.552529645267,0.00885595316764,1.03969228033
+350,5.833333333,pose2_to_pose3_retreat,0.581501380264,0.000181807518964,1.04002062936,0.552072528848,0.00885604826486,1.03969233616
+351,5.850000000,pose2_to_pose3_retreat,0.581058158404,0.000182023221046,1.04002042067,0.551629302362,0.00885624832801,1.03969212897
+352,5.866666667,pose2_to_pose3_retreat,0.580626382964,0.000181828431966,1.04002053561,0.551197528699,0.00885605935833,1.03969223835
+353,5.883333333,pose2_to_pose3_retreat,0.580207582635,0.00018179163481,1.04002044332,0.550778729483,0.00885602658504,1.03969215254
+354,5.900000000,pose2_to_pose3_retreat,0.579804474313,0.000181714985586,1.04002059491,0.550375622349,0.00885595355766,1.0396922934
+355,5.916666667,pose2_to_pose3_retreat,0.579426399907,0.000181724339576,1.04002071586,0.549997547268,0.00885596046016,1.03969241036
+356,5.933333333,pose2_to_pose3_retreat,0.579075894294,0.000181809689826,1.04002063782,0.549647040241,0.00885604134755,1.03969234136
+357,5.950000000,pose2_to_pose3_retreat,0.578756587654,0.000181825082386,1.04002047929,0.549327734002,0.00885605826044,1.03969218709
+358,5.966666667,pose2_to_pose3_retreat,0.578461916488,0.000181825268508,1.04002018142,0.549033063569,0.00885606100381,1.03969189106
+359,5.983333333,pose2_to_pose3_retreat,0.578189385825,0.000181851783069,1.04002053781,0.54876053237,0.00885608568728,1.03969224735
+360,6.000000000,pose2_to_pose3_retreat,0.577930088332,0.000181816209775,1.04002066577,0.548501235999,0.00885605376892,1.03969237106
+361,6.016666667,pose2_to_pose3_retreat,0.577682152425,0.000181741077893,1.04002056943,0.548253301169,0.00885598226265,1.03969227371
+362,6.033333333,pose2_to_pose3_retreat,0.577445380736,0.000181658973166,1.04002046859,0.548016530105,0.00885590230413,1.03969217359
+363,6.050000000,pose2_to_pose3_retreat,0.577221131745,0.000181626946284,1.04002059294,0.54779228177,0.00885587235237,1.03969229401
+364,6.066666667,pose2_to_pose3_retreat,0.577011445367,0.000181725070467,1.04002066898,0.54758259434,0.00885596698211,1.0396923721
+365,6.083333333,pose2_to_pose3_retreat,0.576821842204,0.000181748287542,1.04002050979,0.547392990665,0.00885598887155,1.03969222386
+366,6.100000000,pose2_to_pose3_retreat,0.576653027673,0.000181774650689,1.04002066263,0.547224175858,0.00885601392665,1.03969236692
+367,6.116666667,pose2_to_pose3_retreat,0.576505111442,0.000181783559697,1.04002047093,0.547076259155,0.0088560214155,1.03969217996
+368,6.133333333,pose2_to_pose3_retreat,0.576376152628,0.000181814907705,1.04002032229,0.546947298808,0.00885604771018,1.03969203529
+369,6.150000000,pose2_to_pose3_retreat,0.576266197623,0.000181763625418,1.04002039406,0.546837343993,0.008855996955,1.0396921039
+370,6.166666667,pose2_to_pose3_retreat,0.576168462157,0.000181701737285,1.04002053679,0.546739609889,0.00885593955551,1.03969224319
+371,6.183333333,pose2_to_pose3_retreat,0.576081628981,0.000181764858022,1.04002052736,0.546652777128,0.00885600425598,1.03969223843
+372,6.200000000,pose2_to_pose3_retreat,0.576005380795,0.000181760755235,1.04002070232,0.546576529673,0.00885600207369,1.03969239901
+373,6.216666667,pose2_to_pose3_retreat,0.575938602533,0.00018167043197,1.04002044325,0.546509751105,0.00885591067142,1.03969213892
+374,6.233333333,pose2_to_pose3_retreat,0.575880990908,0.000181679118319,1.04002038493,0.546452139992,0.00885592143105,1.03969208935
+375,6.250000000,pose2_to_pose3_retreat,0.575832451381,0.000181739612418,1.04002047118,0.546403599978,0.00885598044673,1.03969218017
+376,6.266666667,pose2_to_pose3_retreat,0.575793568938,0.000181749702556,1.04002053987,0.546364717154,0.00885598920921,1.03969224785
+377,6.283333333,pose2_to_pose3_retreat,0.575761925351,0.000181665997741,1.04002051563,0.546333075542,0.0088559122417,1.03969222462
+378,6.300000000,pose2_to_pose3_retreat,0.575737008625,0.000181696262922,1.04002041344,0.546308158487,0.00885594148561,1.03969212499
+379,6.316666667,pose2_to_pose3_retreat,0.575717305573,0.000181822847908,1.04002051144,0.546288453225,0.00885606026508,1.03969221486
+380,6.333333333,pose2_to_pose3_retreat,0.575701850125,0.000181883398819,1.04002049151,0.54627299688,0.00885611784234,1.03969219682
+381,6.350000000,pose2_to_pose3_retreat,0.575690164433,0.000181870487109,1.04002046738,0.546261311414,0.00885610591104,1.03969217815
+382,6.366666667,pose2_to_pose3_retreat,0.575681550096,0.000181829567511,1.04002067139,0.546252697162,0.00885606510456,1.03969237699
+383,6.383333333,pose2_to_pose3_retreat,0.575675584469,0.000181907070538,1.04002057034,0.546246731195,0.00885614140946,1.0396922754
+384,6.400000000,pose2_to_pose3_retreat,0.575672049341,0.000181877263939,1.04002070202,0.546243196443,0.00885611264405,1.03969240088
+385,6.416666667,pose2_to_pose3_retreat,0.575670341544,0.0001818398647,1.0400208238,0.546241489003,0.00885607627963,1.03969251789
+386,6.433333333,pose2_to_pose3_retreat,0.575669648543,0.000181854166642,1.04002082951,0.546240795816,0.0088560900193,1.03969252549
+387,6.450000000,pose2_to_pose3_retreat,0.575669434078,0.000181863249422,1.04002082437,0.546240581241,0.00885609877291,1.03969252154
+388,6.466666667,pose2_to_pose3_retreat,0.575669328086,0.0001818677383,1.04002082184,0.546240475194,0.00885610309911,1.03969251959
+389,6.483333333,pose2_to_pose3_retreat,0.575669061977,0.000181879008277,1.04002081546,0.546240208949,0.00885611396066,1.03969251469
+390,6.500000000,pose2_to_pose3_retreat,0.575668734975,0.000181892857124,1.04002080763,0.546239881779,0.00885612730761,1.03969250867
+391,6.516666667,pose2_to_pose3_retreat,0.575668254832,0.00018191319167,1.04002079612,0.54623940139,0.00885614690522,1.03969249983
+392,6.533333333,pose2_to_pose3_retreat,0.575667818596,0.000181922683385,1.04002077725,0.546238964936,0.00885615569811,1.03969248202
+393,6.550000000,pose2_to_pose3_retreat,0.575667642045,0.000181916189138,1.04002075992,0.546238788304,0.00885614888735,1.03969246357
+394,6.566666667,pose2_to_pose3_retreat,0.575667522431,0.000181911789266,1.04002074818,0.546238668636,0.00885614427304,1.03969245106
+395,6.583333333,pose2_to_pose3_retreat,0.575667508811,0.000181911288256,1.04002074684,0.546238655009,0.00885614374761,1.03969244964
+396,6.600000000,pose2_to_pose3_retreat,0.575667489565,0.000181910580347,1.04002074496,0.546238635756,0.0088561430052,1.03969244763
+397,6.616666667,pose2_to_pose3_retreat,0.575667459976,0.000181909491916,1.04002074205,0.546238606152,0.00885614186372,1.03969244454
+398,6.633333333,pose2_to_pose3_retreat,0.575667231536,0.000181901089005,1.04002071963,0.546238377609,0.00885613305128,1.03969242066
+399,6.650000000,pose2_to_pose3_retreat,0.575667010474,0.000181892957467,1.04002069793,0.546238156446,0.00885612452343,1.03969239755
+400,6.666666667,pose2_to_pose3_retreat,0.575667000579,0.000181890474264,1.04002068946,0.546238146588,0.00885612217916,1.03969238933
+401,6.683333333,pose2_to_pose3_retreat,0.575666914227,0.000181866818454,1.04002060842,0.546238060608,0.00885609988256,1.03969231084
+402,6.700000000,pose2_to_pose3_retreat,0.575666735722,0.000181817917872,1.04002044092,0.546237882873,0.00885605379169,1.03969214858
+403,6.716666667,pose2_to_pose3_retreat,0.575666720272,0.000181813685583,1.04002042642,0.546237867491,0.00885604980258,1.03969213454
+404,6.733333333,pose2_to_pose3_retreat,0.575666709583,0.000181838664834,1.04002042564,0.546237856344,0.00885607316261,1.03969213203
+405,6.750000000,pose2_to_pose3_retreat,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895

Part2/Obstacle_avoidance/cylinder_15A_10/position_02/depth_03/fem_node.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0fa57beb91582e8fd0bcf1cd7c77e66382e327bdcb385f9bc20dd6916a250a70
+size 25916120

Part2/Obstacle_avoidance/cylinder_15A_10/position_02/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,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+1,0.016666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+2,0.033333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+3,0.050000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+4,0.066666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+5,0.083333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+6,0.100000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+7,0.116666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+8,0.133333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+9,0.150000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+10,0.166666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+11,0.183333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+12,0.200000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+13,0.216666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+14,0.233333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+15,0.250000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+16,0.266666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+17,0.283333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+18,0.300000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+19,0.316666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+20,0.333333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+21,0.350000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+22,0.366666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+23,0.383333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+24,0.400000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+25,0.416666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+26,0.433333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+27,0.450000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+28,0.466666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+29,0.483333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+30,0.500000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+31,0.516666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+32,0.533333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+33,0.550000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+34,0.566666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+35,0.583333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+36,0.600000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+37,0.616666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+38,0.633333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+39,0.650000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+40,0.666666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+41,0.683333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+42,0.700000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+43,0.716666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+44,0.733333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+45,0.750000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+46,0.766666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+47,0.783333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+48,0.800000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+49,0.816666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+50,0.833333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+51,0.850000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+52,0.866666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+53,0.883333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+54,0.900000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+55,0.916666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+56,0.933333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+57,0.950000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+58,0.966666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+59,0.983333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+60,1.000000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+61,1.016666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+62,1.033333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+63,1.050000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+64,1.066666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+65,1.083333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+66,1.100000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+67,1.116666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+68,1.133333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+69,1.150000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+70,1.166666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+71,1.183333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+72,1.200000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+73,1.216666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+74,1.233333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+75,1.250000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+76,1.266666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+77,1.283333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+78,1.300000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+79,1.316666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+80,1.333333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+81,1.350000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+82,1.366666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+83,1.383333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+84,1.400000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+85,1.416666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+86,1.433333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+87,1.450000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+88,1.466666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+89,1.483333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+90,1.500000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+91,1.516666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+92,1.533333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+93,1.550000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+94,1.566666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+95,1.583333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+96,1.600000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+97,1.616666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+98,1.633333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+99,1.650000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+100,1.666666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+101,1.683333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+102,1.700000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+103,1.716666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+104,1.733333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+105,1.750000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+106,1.766666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+107,1.783333333,pose1_to_pose2_press,0.575666710209,0.000181852718045,1.0400204364,0.546237856699,0.00885608621235,1.03969214046
+108,1.800000000,pose1_to_pose2_press,0.575666806329,0.000181827465824,1.04002044391,0.546237953569,0.00885606342278,1.03969214584
+109,1.816666667,pose1_to_pose2_press,0.575666842206,0.0001818180404,1.04002044671,0.546237989726,0.00885605491654,1.03969214785
+110,1.833333333,pose1_to_pose2_press,0.57566690393,0.000181804661068,1.04002044516,0.546238051753,0.00885604253424,1.03969214548
+111,1.850000000,pose1_to_pose2_press,0.575666990688,0.00018179676402,1.04002041848,0.546238138251,0.00885603379129,1.03969211973
+112,1.866666667,pose1_to_pose2_press,0.575667030382,0.000181793150886,1.04002040627,0.546238177826,0.00885602979113,1.03969210795
+113,1.883333333,pose1_to_pose2_press,0.575667219202,0.000181775963546,1.0400203482,0.546238366081,0.00885601076275,1.03969205191
+114,1.900000000,pose1_to_pose2_press,0.575668379296,0.000181782595546,1.04002048497,0.546239525744,0.00885601601105,1.03969219078
+115,1.916666667,pose1_to_pose2_press,0.575672264982,0.000181801286459,1.04002052093,0.546243413445,0.00885604176124,1.03969223255
+116,1.933333333,pose1_to_pose2_press,0.57568206884,0.000181844689108,1.04002061979,0.546253216274,0.0088560815057,1.03969232691
+117,1.950000000,pose1_to_pose2_press,0.575699550419,0.000181824466677,1.04002052121,0.546270698365,0.00885606301257,1.03969222806
+118,1.966666667,pose1_to_pose2_press,0.575728253228,0.000181625958554,1.0400205074,0.546299401636,0.00885586596218,1.03969221135
+119,1.983333333,pose1_to_pose2_press,0.575767573591,0.000181606543089,1.04002042494,0.546338724289,0.0088558542993,1.03969212833
+120,2.000000000,pose1_to_pose2_press,0.575817342933,0.000181781572959,1.04002040452,0.546388490699,0.00885601968347,1.03969211579
+121,2.016666667,pose1_to_pose2_press,0.5758752297,0.000181607251961,1.04002043378,0.546446379157,0.00885585079283,1.03969213683
+122,2.033333333,pose1_to_pose2_press,0.575940537689,0.0001817190639,1.04002048726,0.546511686441,0.00885596023096,1.03969219075
+123,2.050000000,pose1_to_pose2_press,0.576012585242,0.000181775091994,1.04002044954,0.546583733689,0.0088560155177,1.03969216083
+124,2.066666667,pose1_to_pose2_press,0.576092107092,0.000181834317418,1.04002033049,0.54666325406,0.00885606982951,1.03969204437
+125,2.083333333,pose1_to_pose2_press,0.576182856621,0.000181718647866,1.0400205106,0.546754004359,0.00885595651379,1.03969221761
+126,2.100000000,pose1_to_pose2_press,0.576284832506,0.000181623212966,1.04002033092,0.546855981936,0.00885586663425,1.03969203321
+127,2.116666667,pose1_to_pose2_press,0.576400132144,0.000181707115505,1.04002049065,0.546971281376,0.00885595020318,1.03969220177
+128,2.133333333,pose1_to_pose2_press,0.576528827475,0.000181742774624,1.04002054418,0.547099975158,0.00885598038176,1.0396922493
+129,2.150000000,pose1_to_pose2_press,0.57667203839,0.000181786621198,1.04002046546,0.54724318567,0.0088560229052,1.03969217171
+130,2.166666667,pose1_to_pose2_press,0.576831524097,0.000181843353542,1.04002049045,0.547402671406,0.00885607976924,1.03969219748
+131,2.183333333,pose1_to_pose2_press,0.577007793218,0.000181873466521,1.04002049022,0.547578940055,0.0088561082873,1.03969219736
+132,2.200000000,pose1_to_pose2_press,0.577203434464,0.000181863032832,1.04002042106,0.547774581161,0.00885609737203,1.03969212802
+133,2.216666667,pose1_to_pose2_press,0.577418754182,0.000181849157272,1.0400204623,0.547989901408,0.00885608521737,1.03969216719
+134,2.233333333,pose1_to_pose2_press,0.57765608088,0.000181820080014,1.04002051359,0.548227227219,0.00885605321073,1.03969222055
+135,2.250000000,pose1_to_pose2_press,0.577912469143,0.000181668504332,1.04002039545,0.548483616649,0.00885590581214,1.03969210817
+136,2.266666667,pose1_to_pose2_press,0.57818794852,0.000181748128444,1.04002039017,0.548759096925,0.00885598850282,1.03969210329
+137,2.283333333,pose1_to_pose2_press,0.57848351449,0.000181685206852,1.04002044429,0.549054664133,0.00885592937826,1.03969214672
+138,2.300000000,pose1_to_pose2_press,0.578796119312,0.000181749037134,1.04002063939,0.54936726647,0.00885598486753,1.03969234412
+139,2.316666667,pose1_to_pose2_press,0.579121346659,0.000181839932119,1.04002058642,0.549692494113,0.00885607674527,1.03969229044
+140,2.333333333,pose1_to_pose2_press,0.579460836742,0.000181832995331,1.04002061027,0.550031984191,0.0088560699239,1.03969231774
+141,2.350000000,pose1_to_pose2_press,0.579817720714,0.000181794103254,1.04002053365,0.550388867807,0.00885602981046,1.03969224075
+142,2.366666667,pose1_to_pose2_press,0.580193441572,0.000181761327268,1.04002036723,0.550764588981,0.00885599810551,1.03969207435
+143,2.383333333,pose1_to_pose2_press,0.580590660137,0.00018170216336,1.04002031674,0.551161809021,0.00885594402503,1.0396920259
+144,2.400000000,pose1_to_pose2_press,0.581021994538,0.000181601844603,1.04002044181,0.551593145098,0.00885584909181,1.03969214293
+145,2.416666667,pose1_to_pose2_press,0.581481749961,0.000181642936114,1.04002040022,0.552052900005,0.0088558887595,1.03969210998
+146,2.433333333,pose1_to_pose2_press,0.581965166146,0.000181678082033,1.04002043806,0.552536315012,0.00885591967608,1.03969214165
+147,2.450000000,pose1_to_pose2_press,0.58246290744,0.000181658221549,1.04002039886,0.553034056553,0.00885590097521,1.03969211089
+148,2.466666667,pose1_to_pose2_press,0.582971166868,0.000181800768423,1.04002054333,0.553542313753,0.00885603554596,1.03969224433
+149,2.483333333,pose1_to_pose2_press,0.583487313863,0.000181700355883,1.04002046638,0.554058462645,0.00885594166262,1.03969216983
+150,2.500000000,pose1_to_pose2_press,0.58401564955,0.000181621171211,1.04002036716,0.554586799636,0.00885586690744,1.03969207076
+151,2.516666667,pose1_to_pose2_press,0.584573016166,0.000181709277036,1.04002032748,0.555144164137,0.00885594778099,1.03969202957
+152,2.533333333,pose1_to_pose2_press,0.585156664301,0.000181761095803,1.04002040878,0.55572781138,0.00885599659761,1.03969211141
+153,2.550000000,pose1_to_pose2_press,0.585763107493,0.000181634217638,1.04002055221,0.55633425757,0.00885587991314,1.03969225546
+154,2.566666667,pose1_to_pose2_press,0.586384843961,0.000181661523083,1.04002057764,0.556955993583,0.00885590572028,1.03969228211
+155,2.583333333,pose1_to_pose2_press,0.587018349556,0.000181870205418,1.04002061488,0.557589497583,0.00885610928732,1.03969232714
+156,2.600000000,pose1_to_pose2_press,0.587658864294,0.000181915604338,1.04002039168,0.55823001069,0.00885614919318,1.039692105
+157,2.616666667,pose1_to_pose2_press,0.588310977448,0.000181942860978,1.04002048479,0.55888212381,0.00885617648425,1.03969220205
+158,2.633333333,pose1_to_pose2_press,0.588980305762,0.000181865069309,1.04002034189,0.559551452289,0.00885609893811,1.03969205094
+159,2.650000000,pose1_to_pose2_press,0.58966331974,0.000181824191027,1.04002055959,0.560234467238,0.0088560611938,1.03969226434
+160,2.666666667,pose1_to_pose2_press,0.590358288421,0.000181792229626,1.040020687,0.560929436165,0.0088560299404,1.03969238841
+161,2.683333333,pose1_to_pose2_press,0.591067648977,0.000181840843597,1.04002055044,0.561638795655,0.00885607506014,1.03969225515
+162,2.700000000,pose1_to_pose2_press,0.591792176773,0.000181808144517,1.04002043992,0.562363324446,0.00885604603586,1.03969215249
+163,2.716666667,pose1_to_pose2_press,0.592520283614,0.000181711851806,1.04002047065,0.563091433391,0.00885595690389,1.03969218388
+164,2.733333333,pose1_to_pose2_press,0.593256975889,0.000181793131721,1.04002044426,0.563828124157,0.00885603285381,1.03969215196
+165,2.750000000,pose1_to_pose2_press,0.594009458128,0.000181764056648,1.04002049619,0.564580606167,0.00885600315641,1.03969220808
+166,2.766666667,pose1_to_pose2_press,0.594761997552,0.000181847664246,1.04002045421,0.565333144631,0.00885608308284,1.03969215488
+167,2.783333333,pose1_to_pose2_press,0.595512629905,0.000181586300184,1.04002052035,0.566083781324,0.00885583682556,1.03969223115
+168,2.800000000,pose1_to_pose2_press,0.596260720701,0.000181763976987,1.0400205247,0.566831870625,0.00885600942336,1.03969223538
+169,2.816666667,pose1_to_pose2_press,0.597005408345,0.000181681184409,1.04002023616,0.567576557947,0.00885592571331,1.03969195157
+170,2.833333333,pose1_to_pose2_press,0.597753573742,0.000181735311803,1.04002049847,0.568324721982,0.00885597481518,1.0396922032
+171,2.850000000,pose1_to_pose2_press,0.598501200456,0.00018169342596,1.04002032667,0.569072348439,0.00885593221798,1.03969203566
+172,2.866666667,pose1_to_pose2_press,0.599244091844,0.000181708149574,1.04002025071,0.569815239839,0.00885594705963,1.03969196172
+173,2.883333333,pose1_to_pose2_press,0.599995410029,0.000181844585311,1.04002060207,0.57056655671,0.00885607869853,1.03969230426
+174,2.900000000,pose1_to_pose2_press,0.600752505847,0.000181849484289,1.04002063156,0.571323651788,0.0088560812422,1.03969233786
+175,2.916666667,pose1_to_pose2_press,0.601503414462,0.000181773412632,1.04002052143,0.572074562952,0.0088560139894,1.03969223235
+176,2.933333333,pose1_to_pose2_press,0.602248228709,0.000181686070186,1.04002056724,0.572819377182,0.00885592620332,1.03969226801
+177,2.950000000,pose1_to_pose2_press,0.602980573829,0.000181730666721,1.0400205887,0.573551723097,0.0088559733942,1.03969228682
+178,2.966666667,pose1_to_pose2_press,0.603706007284,0.000181770464145,1.04002042736,0.574277155276,0.00885600931241,1.0396921374
+179,2.983333333,pose1_to_pose2_press,0.604428352871,0.000181780177756,1.04002050511,0.574999500624,0.00885601814707,1.0396922135
+180,3.000000000,pose1_to_pose2_press,0.605138467579,0.000181853974326,1.04002052638,0.575709615062,0.0088560911114,1.03969223698
+181,3.016666667,pose1_to_pose2_press,0.605838530393,0.000181772298416,1.04002051607,0.576409678605,0.00885601197016,1.03969222839
+182,3.033333333,pose1_to_pose2_press,0.606527853359,0.000181680608405,1.04002039055,0.577099002248,0.0088559225773,1.03969210295
+183,3.050000000,pose1_to_pose2_press,0.607204070951,0.000181710280772,1.04002039241,0.577775219844,0.00885595221708,1.03969210362
+184,3.066666667,pose1_to_pose2_press,0.607868676389,0.000181766800834,1.04002052982,0.578439824488,0.00885600599453,1.03969223974
+185,3.083333333,pose1_to_pose2_press,0.608517136027,0.000181778488644,1.04002053602,0.579088283874,0.00885601678478,1.03969224493
+186,3.100000000,pose1_to_pose2_press,0.60914805397,0.00018181773717,1.0400205299,0.579719203904,0.00885606295433,1.03969223464
+187,3.116666667,pose1_to_pose2_press,0.609754697103,0.000181748190071,1.04002045115,0.580325846024,0.00885598975225,1.03969215019
+188,3.133333333,pose1_to_pose2_press,0.61033364333,0.000181771099062,1.04002040175,0.580904790408,0.00885600685194,1.03969211256
+189,3.150000000,pose1_to_pose2_press,0.610884233567,0.00018183862694,1.040020499,0.581455380445,0.00885607369404,1.03969220978
+190,3.166666667,pose1_to_pose2_press,0.611418713569,0.000181891245908,1.0400204309,0.581989859855,0.00885612436969,1.03969214334
+191,3.183333333,pose1_to_pose2_press,0.611941128689,0.000181771430612,1.04002038467,0.582512276145,0.00885600857926,1.0396920989
+192,3.200000000,pose1_to_pose2_press,0.612453991189,0.000181696748793,1.04002044502,0.583025139761,0.00885593764876,1.0396921571
+193,3.216666667,pose1_to_pose2_press,0.612952467795,0.000181818563765,1.04002052339,0.583523614314,0.00885605258733,1.03969223282
+194,3.233333333,pose1_to_pose2_press,0.613429798359,0.000181919656359,1.04002057565,0.584000941927,0.00885614398945,1.03969228632
+195,3.250000000,pose1_to_pose2_press,0.613885114827,0.000181718283919,1.04002077748,0.584456262177,0.00885595550514,1.03969248506
+196,3.266666667,pose1_to_pose2_press,0.614316892371,0.000181777250858,1.04002080323,0.584888039657,0.00885601433214,1.03969250419
+197,3.283333333,pose1_to_pose2_press,0.614738663376,0.000181675786236,1.04002044339,0.585309812745,0.0088559206546,1.03969215592
+198,3.300000000,pose1_to_pose2_press,0.61515325398,0.00018168946751,1.04002073641,0.585724401464,0.00885592770536,1.03969243528
+199,3.316666667,pose1_to_pose2_press,0.615547031665,0.000181754619836,1.04002046383,0.5861181785,0.00885599110545,1.03969216506
+200,3.333333333,pose1_to_pose2_press,0.615917912928,0.000181743297225,1.04002054812,0.586489060192,0.00885598155499,1.03969224933
+201,3.350000000,pose1_to_pose2_press,0.61625872177,0.000181816387917,1.0400206021,0.586829868351,0.00885605281744,1.03969230754
+202,3.366666667,pose1_to_pose2_press,0.61657135176,0.000181804284357,1.04002044875,0.587142498462,0.00885604153026,1.0396921561
+203,3.383333333,pose1_to_pose2_press,0.616857029128,0.000181713490243,1.04002034396,0.587428176632,0.00885595360019,1.03969204815
+204,3.400000000,pose1_to_pose2_press,0.617130173357,0.000181924593758,1.04002041705,0.587701318422,0.00885615689315,1.03969212834
+205,3.416666667,pose1_to_pose2_press,0.617393221012,0.000181826100473,1.04002066082,0.587964368253,0.00885606604965,1.03969236551
+206,3.433333333,pose1_to_pose2_press,0.617646846093,0.000181735663932,1.04002045329,0.588217992403,0.00885597269992,1.03969215948
+207,3.450000000,pose1_to_pose2_press,0.617888333697,0.000181846345827,1.0400205216,0.588459478139,0.00885607720115,1.03969222725
+208,3.466666667,pose1_to_pose2_press,0.618111009458,0.000181780908274,1.04002040557,0.588682155931,0.00885601941409,1.03969212266
+209,3.483333333,pose1_to_pose2_press,0.618312495396,0.000181695054568,1.0400205006,0.588883643858,0.00885594015071,1.03969220782
+210,3.500000000,pose1_to_pose2_press,0.618491088749,0.000181803441501,1.04002072749,0.589062234416,0.00885603891046,1.03969242571
+211,3.516666667,pose1_to_pose2_press,0.618651217039,0.000181763801587,1.04002067001,0.589222362699,0.00885599961418,1.03969237279
+212,3.533333333,pose1_to_pose2_press,0.618793971825,0.000181704387453,1.04002047993,0.58936511881,0.00885594510395,1.03969218918
+213,3.550000000,pose1_to_pose2_press,0.618920302754,0.000181747106119,1.0400204602,0.589491449519,0.00885598713351,1.03969216751
+214,3.566666667,pose1_to_pose2_press,0.61903211734,0.000181736573628,1.04002055213,0.589603264147,0.00885597662364,1.03969225208
+215,3.583333333,pose1_to_pose2_press,0.619129569262,0.000181765519666,1.04002047768,0.589700714721,0.00885600114518,1.03969217335
+216,3.600000000,pose1_to_pose2_press,0.619214665425,0.00018177849469,1.04002054033,0.589785810591,0.00885601486722,1.03969224509
+217,3.616666667,pose1_to_pose2_press,0.619287802379,0.000181687873948,1.04002045208,0.589858949384,0.00885592994524,1.03969215927
+218,3.633333333,pose1_to_pose2_press,0.619351513412,0.000181717715984,1.04002049566,0.589922660015,0.00885595758143,1.03969220102
+219,3.650000000,pose1_to_pose2_press,0.61940690036,0.000181817259671,1.04002061153,0.589978046067,0.00885605371862,1.0396923138
+220,3.666666667,pose1_to_pose2_press,0.619454265634,0.000181835418132,1.04002068777,0.590025411558,0.00885607272504,1.03969238932
+221,3.683333333,pose1_to_pose2_press,0.619494624721,0.000181700586926,1.04002063989,0.590065771718,0.00885594169643,1.0396923446
+222,3.700000000,pose1_to_pose2_press,0.619528097796,0.000181755201302,1.04002043075,0.590099244421,0.00885599523227,1.03969213596
+223,3.716666667,pose1_to_pose2_press,0.619555756113,0.00018169499075,1.04002049777,0.590126902206,0.0088559340704,1.03969221171
+224,3.733333333,pose1_to_pose2_press,0.619577699292,0.000181703664097,1.04002041093,0.590148846278,0.0088559456832,1.03969212463
+225,3.750000000,pose1_to_pose2_press,0.619594558594,0.000181725762974,1.0400205786,0.590165705094,0.00885596566942,1.0396922888
+226,3.766666667,pose1_to_pose2_press,0.619607022803,0.000181746991904,1.04002068633,0.590178169229,0.0088559864282,1.03969238826
+227,3.783333333,pose1_to_pose2_press,0.619615380412,0.000181815249297,1.04002063696,0.590186525946,0.00885605173884,1.03969233695
+228,3.800000000,pose1_to_pose2_press,0.619621012587,0.000181855935823,1.04002055669,0.590192157336,0.00885608979207,1.03969225852
+229,3.816666667,pose1_to_pose2_press,0.619624340235,0.000181767685246,1.04002056633,0.590195486239,0.00885600551536,1.03969226529
+230,3.833333333,pose1_to_pose2_press,0.619626444037,0.0001816985746,1.04002057381,0.590197590855,0.00885593917566,1.03969227158
+231,3.850000000,pose1_to_pose2_press,0.619627722049,0.000181673895941,1.04002059353,0.590198869172,0.00885591558473,1.0396922914
+232,3.866666667,pose1_to_pose2_press,0.619628491156,0.000181778598627,1.04002069548,0.590199637289,0.00885601705324,1.03969239775
+233,3.883333333,pose1_to_pose2_press,0.619628909968,0.000181835613788,1.04002075099,0.590200055561,0.00885607230725,1.03969245567
+234,3.900000000,pose1_to_pose2_press,0.619629022641,0.000181850952473,1.04002076593,0.590200168089,0.00885608717214,1.03969247125
+235,3.916666667,pose1_to_pose2_press,0.619629115545,0.000181863600005,1.04002077824,0.590200260873,0.008856099429,1.03969248409
+236,3.933333333,pose1_to_pose2_press,0.619629235564,0.000181845452628,1.04002078691,0.590200381317,0.00885608269502,1.03969249144
+237,3.950000000,pose1_to_pose2_press,0.61962936882,0.000181820855034,1.0400207956,0.590200515118,0.00885605991414,1.03969249841
+238,3.966666667,pose1_to_pose2_press,0.619629516187,0.00018179365245,1.04002080521,0.59020066309,0.00885603472067,1.03969250611
+239,3.983333333,pose1_to_pose2_press,0.619629596722,0.000181778786577,1.04002081046,0.590200743954,0.00885602095275,1.03969251032
+240,4.000000000,pose1_to_pose2_press,0.619629607198,0.000181776852765,1.04002081114,0.590200754473,0.00885601916177,1.03969251087
+241,4.016666667,pose1_to_pose2_press,0.619629671082,0.000181761702708,1.04002081403,0.590200818578,0.00885600474779,1.03969251319
+242,4.033333333,pose1_to_pose2_press,0.619629785822,0.000181696757151,1.04002080492,0.590200933252,0.00885593960858,1.03969250592
+243,4.050000000,pose1_to_pose2_press,0.619629840912,0.000181665574581,1.04002080054,0.590200988308,0.00885590833585,1.03969250242
+244,4.066666667,pose1_to_pose2_press,0.619629840912,0.000181665574581,1.04002080054,0.590200988307,0.00885590833619,1.03969250242
+245,4.083333333,pose2_hold,0.619629840912,0.000181665574581,1.04002080054,0.590200988312,0.00885590833634,1.03969250242
+246,4.100000000,pose2_hold,0.619629840912,0.000181665574581,1.04002080054,0.590200988312,0.00885590833627,1.03969250242
+247,4.116666667,pose2_hold,0.619629840912,0.000181665574581,1.04002080054,0.590200988312,0.00885590833625,1.03969250242
+248,4.133333333,pose2_hold,0.619629840912,0.000181665574581,1.04002080054,0.590200988312,0.00885590833623,1.03969250242
+249,4.150000000,pose2_hold,0.619629840912,0.000181665574581,1.04002080054,0.590200988312,0.00885590833617,1.03969250242
+250,4.166666667,pose2_hold,0.619629840912,0.000181665574581,1.04002080054,0.590200988312,0.00885590833614,1.03969250242
+251,4.183333333,pose2_hold,0.619629840912,0.000181665574581,1.04002080054,0.590200988313,0.00885590833612,1.03969250242
+252,4.200000000,pose2_hold,0.619629840912,0.000181665574581,1.04002080054,0.590200988313,0.00885590833609,1.03969250242
+253,4.216666667,pose2_hold,0.619629840912,0.000181665574581,1.04002080054,0.590200988313,0.00885590833609,1.03969250242
+254,4.233333333,pose2_hold,0.619629840912,0.000181665574581,1.04002080054,0.590200988313,0.00885590833606,1.03969250242
+255,4.250000000,pose2_hold,0.619629840912,0.000181665574581,1.04002080054,0.590200988313,0.00885590833607,1.03969250242
+256,4.266666667,pose2_hold,0.619629840912,0.000181665574581,1.04002080054,0.590200988313,0.00885590833603,1.03969250242
+257,4.283333333,pose2_hold,0.619629840912,0.000181665574581,1.04002080054,0.590200988314,0.00885590833607,1.03969250242
+258,4.300000000,pose2_hold,0.619629840912,0.000181665574581,1.04002080054,0.590200988314,0.00885590833619,1.03969250242
+259,4.316666667,pose2_hold,0.619629840912,0.000181665574581,1.04002080054,0.590200988314,0.00885590833627,1.03969250242
+260,4.333333333,pose2_hold,0.619629840912,0.000181665574581,1.04002080054,0.590200988314,0.0088559083363,1.03969250242
+261,4.350000000,pose2_hold,0.619629840912,0.000181665574581,1.04002080054,0.590200988314,0.00885590833629,1.03969250242
+262,4.366666667,pose2_hold,0.619629840912,0.000181665574581,1.04002080054,0.590200988314,0.00885590833629,1.03969250242
+263,4.383333333,pose2_to_pose3_retreat,0.619629840912,0.000181665574581,1.04002080054,0.590200988315,0.00885590833622,1.03969250242
+264,4.400000000,pose2_to_pose3_retreat,0.619629776656,0.000181712746005,1.04002074614,0.59020092377,0.00885595464514,1.03969245106
+265,4.416666667,pose2_to_pose3_retreat,0.619629679749,0.000181783887024,1.04002066409,0.590200826428,0.00885602448539,1.03969237361
+266,4.433333333,pose2_to_pose3_retreat,0.619629615025,0.000181795868272,1.04002069614,0.590200761602,0.00885603604709,1.0396924037
+267,4.450000000,pose2_to_pose3_retreat,0.619629536908,0.000181794768368,1.04002077287,0.590200683445,0.00885603463754,1.03969247586
+268,4.466666667,pose2_to_pose3_retreat,0.61962944272,0.000181793442186,1.04002086537,0.590200589209,0.00885603293802,1.03969256285
+269,4.483333333,pose2_to_pose3_retreat,0.619629210452,0.000181789965,1.0400209417,0.590200356869,0.00885602900743,1.0396926339
+270,4.500000000,pose2_to_pose3_retreat,0.619628051845,0.000181772116587,1.04002069467,0.590199198066,0.00885601077419,1.03969239503
+271,4.516666667,pose2_to_pose3_retreat,0.619624614868,0.000181783085533,1.04002066207,0.590195759711,0.00885601705391,1.03969236266
+272,4.533333333,pose2_to_pose3_retreat,0.619615965404,0.000181798268899,1.04002054424,0.590187111874,0.00885603796094,1.03969225124
+273,4.550000000,pose2_to_pose3_retreat,0.619600350377,0.000181828723867,1.04002066971,0.590171495852,0.00885606488961,1.03969237411
+274,4.566666667,pose2_to_pose3_retreat,0.619574904589,0.000181791965409,1.04002061815,0.590146049336,0.00885602552913,1.03969232136
+275,4.583333333,pose2_to_pose3_retreat,0.619539714825,0.000181809076834,1.04002067844,0.590110859582,0.00885604260577,1.03969237971
+276,4.600000000,pose2_to_pose3_retreat,0.619494481343,0.00018188400457,1.04002054674,0.590065625299,0.00885611495818,1.03969225069
+277,4.616666667,pose2_to_pose3_retreat,0.619441039994,0.000181761661473,1.04002044548,0.590012185839,0.0088559993752,1.03969215285
+278,4.633333333,pose2_to_pose3_retreat,0.619380534992,0.000181774430934,1.04002059345,0.589951682232,0.00885601638949,1.03969230129
+279,4.650000000,pose2_to_pose3_retreat,0.619313258681,0.000181759047374,1.04002049117,0.589884406518,0.00885600369027,1.03969220405
+280,4.666666667,pose2_to_pose3_retreat,0.6192390809,0.000181744008085,1.04002049716,0.58981022875,0.00885598908848,1.03969221144
+281,4.683333333,pose2_to_pose3_retreat,0.619155693953,0.000181807374908,1.04002061394,0.589726840792,0.00885604853047,1.03969232459
+282,4.700000000,pose2_to_pose3_retreat,0.619062366796,0.000181921824317,1.04002054929,0.589633511612,0.00885615536033,1.03969225594
+283,4.716666667,pose2_to_pose3_retreat,0.61895717287,0.000181764121083,1.04002056141,0.589528318938,0.00885600149221,1.03969226428
+284,4.733333333,pose2_to_pose3_retreat,0.618839300518,0.000181714506407,1.04002045013,0.589410446578,0.00885595194168,1.03969215775
+285,4.750000000,pose2_to_pose3_retreat,0.618707412744,0.000181767842376,1.04002034188,0.589278557989,0.00885600248292,1.03969205187
+286,4.766666667,pose2_to_pose3_retreat,0.61855910222,0.000181874808723,1.0400203845,0.589130246742,0.00885610676602,1.0396920927
+287,4.783333333,pose2_to_pose3_retreat,0.618393912738,0.000181897092791,1.040020505,0.588965057627,0.00885613000069,1.03969221017
+288,4.800000000,pose2_to_pose3_retreat,0.618210321438,0.000181654757274,1.04002031923,0.588781468111,0.00885589365484,1.03969202635
+289,4.816666667,pose2_to_pose3_retreat,0.61800830415,0.000181696223932,1.04002066403,0.588579450998,0.0088559350192,1.03969236126
+290,4.833333333,pose2_to_pose3_retreat,0.617785956098,0.00018172051072,1.04002046012,0.588357102539,0.00885595809378,1.03969217096
+291,4.850000000,pose2_to_pose3_retreat,0.617546828831,0.000181717037037,1.04002063319,0.588117976597,0.00885595885676,1.03969234273
+292,4.866666667,pose2_to_pose3_retreat,0.617290876093,0.000181731501186,1.04002061874,0.587862023692,0.00885597231855,1.03969232309
+293,4.883333333,pose2_to_pose3_retreat,0.617013202193,0.000181747358366,1.04002046311,0.587584349127,0.00885598568725,1.03969216924
+294,4.900000000,pose2_to_pose3_retreat,0.616716962509,0.000181739204239,1.04002046165,0.587288110559,0.00885598131035,1.03969217546
+295,4.916666667,pose2_to_pose3_retreat,0.616406642288,0.000181760704642,1.04002028439,0.586977790992,0.00885600472927,1.03969199865
+296,4.933333333,pose2_to_pose3_retreat,0.616080525085,0.000181828092466,1.04002048973,0.586651672991,0.00885606880332,1.03969220014
+297,4.950000000,pose2_to_pose3_retreat,0.615734843431,0.000181712802141,1.04002054962,0.586305990969,0.00885595182093,1.03969225373
+298,4.966666667,pose2_to_pose3_retreat,0.615372606209,0.000181756398469,1.04002046174,0.585943753716,0.00885599515081,1.03969217069
+299,4.983333333,pose2_to_pose3_retreat,0.614991041908,0.000181797259535,1.04002051963,0.585562189983,0.0088560377022,1.03969223071
+300,5.000000000,pose2_to_pose3_retreat,0.61458062285,0.000181705363266,1.04002077393,0.585151771824,0.00885594836192,1.03969247645
+301,5.016666667,pose2_to_pose3_retreat,0.614144541062,0.000181711062619,1.04002066143,0.58471568984,0.00885595310026,1.03969236412
+302,5.033333333,pose2_to_pose3_retreat,0.613683776833,0.00018180899655,1.04002032372,0.584254924501,0.00885604714323,1.0396920318
+303,5.050000000,pose2_to_pose3_retreat,0.613203376504,0.000181775722342,1.04002040855,0.583774524569,0.00885601486925,1.0396921134
+304,5.066666667,pose2_to_pose3_retreat,0.612705009206,0.000181743780508,1.04002060033,0.583276157433,0.00885598325512,1.03969230289
+305,5.083333333,pose2_to_pose3_retreat,0.612197403842,0.000181781145728,1.04002048911,0.582768551666,0.00885601928474,1.03969219568
+306,5.100000000,pose2_to_pose3_retreat,0.611679850089,0.000181805280464,1.04002041867,0.582250997629,0.0088560424318,1.03969212667
+307,5.116666667,pose2_to_pose3_retreat,0.611144304625,0.000181765337052,1.0400206612,0.581715452488,0.00885600336397,1.03969236329
+308,5.133333333,pose2_to_pose3_retreat,0.610591819523,0.000181823590037,1.0400205422,0.58116296756,0.00885606238518,1.03969224908
+309,5.150000000,pose2_to_pose3_retreat,0.610023642644,0.000181645419328,1.04002054271,0.580594793173,0.00885589260443,1.03969224781
+310,5.166666667,pose2_to_pose3_retreat,0.60943733343,0.000181806416825,1.04002052687,0.580008480859,0.00885604319841,1.03969223488
+311,5.183333333,pose2_to_pose3_retreat,0.608834750487,0.000181881048535,1.04002067699,0.579405896263,0.00885611200291,1.03969237876
+312,5.200000000,pose2_to_pose3_retreat,0.608213537543,0.000181833963181,1.04002083057,0.578784684637,0.00885606916262,1.03969252585
+313,5.216666667,pose2_to_pose3_retreat,0.607571309975,0.000181799945518,1.04002075732,0.57814245876,0.00885604112299,1.03969245896
+314,5.233333333,pose2_to_pose3_retreat,0.606901968665,0.00018182888659,1.04002051262,0.577473115298,0.00885606327007,1.0396922276
+315,5.250000000,pose2_to_pose3_retreat,0.606211900929,0.000181969216184,1.0400206898,0.576783046457,0.00885619926172,1.03969238915
+316,5.266666667,pose2_to_pose3_retreat,0.605505737223,0.000181643112123,1.04002076988,0.576076887675,0.00885588999163,1.03969247249
+317,5.283333333,pose2_to_pose3_retreat,0.604787434902,0.000181618120024,1.04002069831,0.575358585456,0.00885586542532,1.03969240306
+318,5.300000000,pose2_to_pose3_retreat,0.604059240641,0.00018174610715,1.04002066228,0.574630388558,0.0088559844912,1.03969236763
+319,5.316666667,pose2_to_pose3_retreat,0.603335651107,0.000181796748949,1.04002062419,0.573906798452,0.00885603308826,1.03969232672
+320,5.333333333,pose2_to_pose3_retreat,0.602611506911,0.000181775582093,1.04002056681,0.573182655675,0.00885601665987,1.03969226728
+321,5.350000000,pose2_to_pose3_retreat,0.601881610803,0.000181830921955,1.04002055234,0.572452759236,0.00885607102922,1.03969225677
+322,5.366666667,pose2_to_pose3_retreat,0.601146751105,0.00018194487151,1.04002054657,0.571717896745,0.00885617545521,1.03969224963
+323,5.383333333,pose2_to_pose3_retreat,0.60040239247,0.000181671607284,1.04002064596,0.57097354186,0.0088559150193,1.03969235179
+324,5.400000000,pose2_to_pose3_retreat,0.599648538341,0.000181687884318,1.04002048817,0.570219688066,0.00885593252216,1.03969219622
+325,5.416666667,pose2_to_pose3_retreat,0.598885554836,0.000181789906509,1.0400203376,0.569456703971,0.00885603267941,1.03969204933
+326,5.433333333,pose2_to_pose3_retreat,0.598112018471,0.000181797105271,1.04002034213,0.568683166622,0.00885603655544,1.03969205411
+327,5.450000000,pose2_to_pose3_retreat,0.597344293204,0.000181793938223,1.04002039623,0.56791544027,0.00885602975742,1.03969210951
+328,5.466666667,pose2_to_pose3_retreat,0.596594598536,0.000181885453182,1.0400203896,0.567165745362,0.00885612063551,1.03969210748
+329,5.483333333,pose2_to_pose3_retreat,0.595852664269,0.000181774368277,1.04002056017,0.566423812854,0.00885601495775,1.03969226327
+330,5.500000000,pose2_to_pose3_retreat,0.595117733853,0.000181707435714,1.0400203675,0.565688881683,0.0088559453199,1.03969206673
+331,5.516666667,pose2_to_pose3_retreat,0.594387914231,0.000181825025391,1.04002038298,0.564959061288,0.00885606056982,1.03969208965
+332,5.533333333,pose2_to_pose3_retreat,0.593657200657,0.000181864217688,1.04002046966,0.564228347132,0.00885609790198,1.03969217925
+333,5.550000000,pose2_to_pose3_retreat,0.592920587991,0.000181818603882,1.04002051976,0.563491735163,0.00885605468844,1.03969223027
+334,5.566666667,pose2_to_pose3_retreat,0.592184271625,0.000181766250589,1.04002052552,0.562755419975,0.00885600631003,1.03969223545
+335,5.583333333,pose2_to_pose3_retreat,0.59145201367,0.000181759762895,1.04002058103,0.562023161138,0.00885599653146,1.03969228304
+336,5.600000000,pose2_to_pose3_retreat,0.590728025823,0.000181830636086,1.04002066001,0.561299172971,0.00885606641721,1.03969236464
+337,5.616666667,pose2_to_pose3_retreat,0.590013779966,0.000181640713697,1.04002042918,0.560584929235,0.00885588396762,1.03969214101
+338,5.633333333,pose2_to_pose3_retreat,0.589321201692,0.000181828547131,1.04002060419,0.559892349505,0.0088560667069,1.03969231195
+339,5.650000000,pose2_to_pose3_retreat,0.588646867961,0.000181796824081,1.04002060631,0.559218016064,0.00885603585805,1.03969231112
+340,5.666666667,pose2_to_pose3_retreat,0.587988559185,0.000181753267972,1.04002065007,0.558559707733,0.00885599384608,1.03969235571
+341,5.683333333,pose2_to_pose3_retreat,0.587344023221,0.000181775579262,1.04002079627,0.55791517184,0.00885601636117,1.03969250102
+342,5.700000000,pose2_to_pose3_retreat,0.586709340377,0.000181709793154,1.04002077882,0.557280489896,0.00885595339057,1.0396924772
+343,5.716666667,pose2_to_pose3_retreat,0.586084292091,0.000181801139294,1.04002041662,0.556655440301,0.00885604076714,1.03969212751
+344,5.733333333,pose2_to_pose3_retreat,0.585471069662,0.000181745199711,1.04002029537,0.556042219129,0.00885598913895,1.03969200746
+345,5.750000000,pose2_to_pose3_retreat,0.584875426467,0.000181736389307,1.0400205482,0.555446574532,0.00885597540886,1.03969225599
+346,5.766666667,pose2_to_pose3_retreat,0.584301509302,0.00018179836757,1.04002072224,0.554872656908,0.00885603578635,1.0396924289
+347,5.783333333,pose2_to_pose3_retreat,0.583750893087,0.000181777885523,1.04002068741,0.554322040872,0.00885601581567,1.03969239146
+348,5.800000000,pose2_to_pose3_retreat,0.58321933911,0.000181687968555,1.0400205641,0.553790487568,0.00885592809189,1.03969226584
+349,5.816666667,pose2_to_pose3_retreat,0.582707074356,0.000181693682218,1.04002053971,0.553278224483,0.00885593968693,1.03969224718
+350,5.833333333,pose2_to_pose3_retreat,0.582212826741,0.000181658828266,1.04002053829,0.552783975825,0.00885590127776,1.03969224528
+351,5.850000000,pose2_to_pose3_retreat,0.581737615557,0.000181726709504,1.04002056228,0.552308764206,0.00885596748835,1.03969226414
+352,5.866666667,pose2_to_pose3_retreat,0.581283648736,0.000181787138411,1.04002062929,0.551854796309,0.008856024368,1.03969233381
+353,5.883333333,pose2_to_pose3_retreat,0.580842318431,0.000181723677733,1.04002053545,0.551413466853,0.00885596390295,1.03969224302
+354,5.900000000,pose2_to_pose3_retreat,0.58041200789,0.000181643225227,1.04002047761,0.550983158158,0.00885588956771,1.03969218135
+355,5.916666667,pose2_to_pose3_retreat,0.580000887289,0.000181653834503,1.04002056837,0.550572037367,0.00885589937438,1.03969226794
+356,5.933333333,pose2_to_pose3_retreat,0.579610333836,0.000181684308919,1.04002053111,0.550181481067,0.00885592052505,1.03969223951
+357,5.950000000,pose2_to_pose3_retreat,0.579246459362,0.000181798769634,1.04002055978,0.549817606298,0.00885603378347,1.03969226293
+358,5.966666667,pose2_to_pose3_retreat,0.578911250529,0.000181771003241,1.04002054773,0.549482398475,0.00885600953433,1.03969225359
+359,5.983333333,pose2_to_pose3_retreat,0.578607812525,0.000181740997352,1.04002059466,0.54917896104,0.00885598105807,1.03969228997
+360,6.000000000,pose2_to_pose3_retreat,0.578323814255,0.00018172333425,1.04002053013,0.548894962672,0.00885596310546,1.03969222655
+361,6.016666667,pose2_to_pose3_retreat,0.578056636329,0.00018170584598,1.0400205493,0.548627784283,0.00885594434172,1.03969225367
+362,6.033333333,pose2_to_pose3_retreat,0.577801294616,0.000181706001973,1.04002078532,0.548372441947,0.00885594244432,1.03969249135
+363,6.050000000,pose2_to_pose3_retreat,0.577556371207,0.000181845779291,1.04002084113,0.548127517247,0.00885607734291,1.03969253363
+364,6.066666667,pose2_to_pose3_retreat,0.577322582007,0.000181745350239,1.04002035389,0.547893729862,0.00885598357509,1.03969205976
+365,6.083333333,pose2_to_pose3_retreat,0.577104588316,0.000181740718775,1.0400204134,0.547675737503,0.00885598341989,1.03969211822
+366,6.100000000,pose2_to_pose3_retreat,0.576905815553,0.000181680086893,1.04002061696,0.547476964983,0.00885592355132,1.03969232017
+367,6.116666667,pose2_to_pose3_retreat,0.576727692464,0.000181713732986,1.04002052387,0.547298841119,0.0088559546012,1.03969222797
+368,6.133333333,pose2_to_pose3_retreat,0.576569998428,0.000181716244237,1.04002048511,0.547141145929,0.00885595329413,1.03969219192
+369,6.150000000,pose2_to_pose3_retreat,0.576433863752,0.000181748667933,1.0400205893,0.547005010519,0.00885598318226,1.03969229485
+370,6.166666667,pose2_to_pose3_retreat,0.576315181555,0.000181836358364,1.04002065122,0.546886328126,0.00885607008534,1.03969235361
+371,6.183333333,pose2_to_pose3_retreat,0.576211656366,0.000181837459328,1.04002052795,0.546782802876,0.00885607115786,1.03969223504
+372,6.200000000,pose2_to_pose3_retreat,0.576120281899,0.000181703962525,1.04002043845,0.546691429565,0.00885594156157,1.03969214501
+373,6.216666667,pose2_to_pose3_retreat,0.576040254885,0.000181710527485,1.04002042343,0.546611403841,0.0088559524983,1.03969213037
+374,6.233333333,pose2_to_pose3_retreat,0.575969001077,0.000181764195927,1.04002057723,0.546540149444,0.00885600394921,1.03969227837
+375,6.250000000,pose2_to_pose3_retreat,0.575906388318,0.000181870937817,1.04002065773,0.546477534817,0.00885610423791,1.03969235578
+376,6.266666667,pose2_to_pose3_retreat,0.575853858474,0.0001819057131,1.0400205673,0.546425004479,0.00885613746159,1.0396922686
+377,6.283333333,pose2_to_pose3_retreat,0.575810562912,0.000181655329292,1.04002055973,0.54638171199,0.00885589747268,1.03969226009
+378,6.300000000,pose2_to_pose3_retreat,0.575776242355,0.000181735714191,1.04002044627,0.546347391017,0.00885597659382,1.03969215056
+379,6.316666667,pose2_to_pose3_retreat,0.575748732473,0.000181774632746,1.04002050272,0.546319880696,0.00885601413247,1.03969220998
+380,6.333333333,pose2_to_pose3_retreat,0.575727090824,0.000181734580357,1.04002045031,0.546298239305,0.00885597525802,1.03969216555
+381,6.350000000,pose2_to_pose3_retreat,0.575710016161,0.000181667694678,1.0400204421,0.546281165389,0.0088559110015,1.03969215964
+382,6.366666667,pose2_to_pose3_retreat,0.575696878849,0.00018165583041,1.04002081057,0.546268028906,0.008855901115,1.0396925053
+383,6.383333333,pose2_to_pose3_retreat,0.575686760814,0.000181771565391,1.04002057247,0.546257909011,0.00885601123313,1.03969228633
+384,6.400000000,pose2_to_pose3_retreat,0.575679535391,0.000181711939041,1.04002051176,0.546250684291,0.00885595398313,1.03969222557
+385,6.416666667,pose2_to_pose3_retreat,0.575675015732,0.00018165661415,1.04002056165,0.546246165033,0.00885589973268,1.03969226802
+386,6.433333333,pose2_to_pose3_retreat,0.575671864062,0.000181850490885,1.04002065304,0.546243008991,0.00885607869704,1.03969235732
+387,6.450000000,pose2_to_pose3_retreat,0.5756698933,0.000181872005731,1.04002053861,0.546241037912,0.00885609920884,1.03969224474
+388,6.466666667,pose2_to_pose3_retreat,0.575668863976,0.000181825431266,1.04002037937,0.546240009826,0.00885605693506,1.0396920883
+389,6.483333333,pose2_to_pose3_retreat,0.575668396925,0.000181804298294,1.04002030712,0.546239543336,0.00885603775351,1.03969201731
+390,6.500000000,pose2_to_pose3_retreat,0.575668332732,0.000181801393681,1.04002029719,0.546239479219,0.0088560351171,1.03969200756
+391,6.516666667,pose2_to_pose3_retreat,0.575668225127,0.000181796608133,1.04002028166,0.546239371742,0.00885603077388,1.0396919923
+392,6.533333333,pose2_to_pose3_retreat,0.575668092546,0.000181793424033,1.04002029893,0.546239239255,0.00885602789801,1.03969200937
+393,6.550000000,pose2_to_pose3_retreat,0.575668014229,0.000181791543127,1.04002030913,0.546239160992,0.00885602619919,1.03969201945
+394,6.566666667,pose2_to_pose3_retreat,0.575667766365,0.000181785590308,1.04002034142,0.546238913302,0.00885602082263,1.03969205135
+395,6.583333333,pose2_to_pose3_retreat,0.575667489092,0.000181778931206,1.04002037753,0.546238636223,0.00885601480816,1.03969208704
+396,6.600000000,pose2_to_pose3_retreat,0.575667299721,0.000181774383193,1.0400204022,0.546238446985,0.00885601070041,1.03969211141
+397,6.616666667,pose2_to_pose3_retreat,0.575667229884,0.000181772705963,1.04002041129,0.546238377198,0.00885600918555,1.0396921204
+398,6.633333333,pose2_to_pose3_retreat,0.575667198255,0.000181771946351,1.04002041541,0.546238345591,0.00885600849947,1.03969212447
+399,6.650000000,pose2_to_pose3_retreat,0.575667142213,0.000181776363748,1.04002041738,0.546238289486,0.00885601268951,1.03969212612
+400,6.666666667,pose2_to_pose3_retreat,0.575667107545,0.00018179029283,1.04002040825,0.546238254579,0.00885602578315,1.03969211633
+401,6.683333333,pose2_to_pose3_retreat,0.57566709931,0.000181793601875,1.04002040608,0.546238246286,0.00885602889373,1.03969211401
+402,6.700000000,pose2_to_pose3_retreat,0.575667044966,0.000181815436339,1.04002039177,0.546238191568,0.0088560494186,1.03969209866
+403,6.716666667,pose2_to_pose3_retreat,0.575667042303,0.00018181650632,1.04002039107,0.546238188887,0.0088560504244,1.03969209791
+404,6.733333333,pose2_to_pose3_retreat,0.575666979421,0.000181841771452,1.04002037451,0.546238125572,0.00885607417418,1.03969208015
+405,6.750000000,pose2_to_pose3_retreat,0.575666860059,0.000181889729612,1.04002034307,0.546238005387,0.00885611925589,1.03969204645
+406,6.766666667,pose2_to_pose3_retreat,0.575666773398,0.000181897355816,1.04002036109,0.546237918762,0.00885612699088,1.0396920641
+407,6.783333333,pose2_to_pose3_retreat,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579598,1.03969213895