Upload Part2Obstacle_avoidance (part 6)

.gitattributes

@@ -11263,3 +11263,70 @@ Part2/Obstacle_avoidance/ball_0030_15/position_09/depth_04/fem_node.csv filter=l
 Part2/Obstacle_avoidance/ball_0030_15/position_09/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
 Part2/Obstacle_avoidance/ball_0030_15/position_10/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
 Part2/Obstacle_avoidance/ball_0030_15/position_10/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0030_15/position_10/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0030_15/position_10/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0030_15/position_10/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0030_15/position_11/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0030_15/position_11/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0030_15/position_11/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0030_15/position_11/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0030_15/position_11/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0030_15/position_12/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0030_15/position_12/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0030_15/position_12/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0030_15/position_12/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0030_15/position_12/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0030_17.5/position_01/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0030_17.5/position_01/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0030_17.5/position_01/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0030_17.5/position_01/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0030_17.5/position_01/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0030_17.5/position_02/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0030_17.5/position_02/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0030_17.5/position_02/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0030_17.5/position_02/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0030_17.5/position_02/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0030_17.5/position_03/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0030_17.5/position_03/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0030_17.5/position_03/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0030_17.5/position_03/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0030_17.5/position_03/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0030_17.5/position_04/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0030_17.5/position_04/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0030_17.5/position_04/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0030_17.5/position_04/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0030_17.5/position_04/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0030_17.5/position_05/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0030_17.5/position_05/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0030_17.5/position_05/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0030_17.5/position_05/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0030_17.5/position_05/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0030_17.5/position_06/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0030_17.5/position_06/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0030_17.5/position_06/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0030_17.5/position_06/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0030_17.5/position_06/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0030_17.5/position_07/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0030_17.5/position_07/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0030_17.5/position_07/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0030_17.5/position_07/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0030_17.5/position_07/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0030_17.5/position_08/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0030_17.5/position_08/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0030_17.5/position_08/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0030_17.5/position_08/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0030_17.5/position_08/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0030_17.5/position_09/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0030_17.5/position_09/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0030_17.5/position_09/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0030_17.5/position_09/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0030_17.5/position_09/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0030_17.5/position_10/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0030_17.5/position_10/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0030_17.5/position_10/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0030_17.5/position_10/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0030_17.5/position_10/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0030_17.5/position_11/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0030_17.5/position_11/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0030_17.5/position_11/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0030_17.5/position_11/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text

Part2/Obstacle_avoidance/ball_0030_15/position_10/depth_02/simulation_data.csv

@@ -0,0 +1,424 @@
+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,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+1,0.016666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+2,0.033333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+3,0.050000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+4,0.066666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+5,0.083333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+6,0.100000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+7,0.116666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+8,0.133333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+9,0.150000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+10,0.166666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+11,0.183333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+12,0.200000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+13,0.216666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+14,0.233333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+15,0.250000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+16,0.266666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+17,0.283333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+18,0.300000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+19,0.316666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+20,0.333333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+21,0.350000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+22,0.366666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+23,0.383333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+24,0.400000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+25,0.416666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+26,0.433333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+27,0.450000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+28,0.466666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+29,0.483333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+30,0.500000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+31,0.516666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+32,0.533333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+33,0.550000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+34,0.566666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+35,0.583333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+36,0.600000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+37,0.616666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+38,0.633333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+39,0.650000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+40,0.666666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+41,0.683333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+42,0.700000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+43,0.716666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+44,0.733333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+45,0.750000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+46,0.766666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+47,0.783333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+48,0.800000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+49,0.816666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+50,0.833333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+51,0.850000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+52,0.866666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+53,0.883333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+54,0.900000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+55,0.916666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+56,0.933333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+57,0.950000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+58,0.966666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+59,0.983333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+60,1.000000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+61,1.016666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+62,1.033333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+63,1.050000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+64,1.066666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+65,1.083333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+66,1.100000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+67,1.116666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+68,1.133333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+69,1.150000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+70,1.166666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+71,1.183333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+72,1.200000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+73,1.216666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+74,1.233333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+75,1.250000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+76,1.266666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+77,1.283333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+78,1.300000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+79,1.316666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+80,1.333333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+81,1.350000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+82,1.366666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+83,1.383333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+84,1.400000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+85,1.416666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+86,1.433333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+87,1.450000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+88,1.466666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+89,1.483333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+90,1.500000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+91,1.516666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+92,1.533333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+93,1.550000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+94,1.566666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+95,1.583333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+96,1.600000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+97,1.616666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+98,1.633333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+99,1.650000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+100,1.666666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+101,1.683333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+102,1.700000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+103,1.716666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+104,1.733333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+105,1.750000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+106,1.766666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+107,1.783333333,pose1_to_pose2_press,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+108,1.800000000,pose1_to_pose2_press,0.580743622091,0.0100019275072,1.04004080254,0.551315341334,0.0186767544278,1.03967859628
+109,1.816666667,pose1_to_pose2_press,0.58074373092,0.0100018719907,1.0400408414,0.551315450985,0.018676701766,1.03967863664
+110,1.833333333,pose1_to_pose2_press,0.580743905017,0.0100017831303,1.04004083538,0.551315626422,0.0186766175459,1.03967863285
+111,1.850000000,pose1_to_pose2_press,0.580744086258,0.0100016906233,1.04004082912,0.551315809059,0.0186765298695,1.03967862892
+112,1.866666667,pose1_to_pose2_press,0.580744325675,0.0100016879512,1.04004088521,0.551316048198,0.0186765261346,1.03967868212
+113,1.883333333,pose1_to_pose2_press,0.580744405972,0.0100016871123,1.04004090405,0.551316128401,0.0186765249357,1.0396787
+114,1.900000000,pose1_to_pose2_press,0.580744564936,0.0100016854514,1.04004094135,0.551316287178,0.0186765225621,1.03967873538
+115,1.916666667,pose1_to_pose2_press,0.580744667478,0.0100016843801,1.04004096541,0.5513163896,0.018676521031,1.03967875821
+116,1.933333333,pose1_to_pose2_press,0.580744670944,0.0100016843439,1.04004096623,0.551316393062,0.0186765209793,1.03967875898
+117,1.950000000,pose1_to_pose2_press,0.580744965867,0.0100016812625,1.04004103543,0.551316687639,0.0186765165756,1.03967882462
+118,1.966666667,pose1_to_pose2_press,0.580745006858,0.0100016808343,1.04004104505,0.551316728582,0.0186765159636,1.03967883375
+119,1.983333333,pose1_to_pose2_press,0.580745053181,0.0100016803503,1.04004105592,0.55131677485,0.0186765152719,1.03967884406
+120,2.000000000,pose1_to_pose2_press,0.580745210411,0.0100016787076,1.04004109282,0.551316931897,0.0186765129242,1.03967887906
+121,2.016666667,pose1_to_pose2_press,0.580745228468,0.0100016785189,1.04004109705,0.551316949932,0.0186765126546,1.03967888307
+122,2.033333333,pose1_to_pose2_press,0.58074552313,0.0100016802484,1.04004112669,0.55131724438,0.0186765135717,1.03967891065
+123,2.050000000,pose1_to_pose2_press,0.580746323078,0.0100017035381,1.04004105433,0.551318044256,0.0186765366236,1.03967883847
+124,2.066666667,pose1_to_pose2_press,0.580748055713,0.010001753982,1.04004089762,0.551319776736,0.0186765865525,1.03967868215
+125,2.083333333,pose1_to_pose2_press,0.580754744755,0.0100017409096,1.04004106595,0.551326466807,0.0186765770346,1.03967885189
+126,2.100000000,pose1_to_pose2_press,0.580765743269,0.0100017624935,1.04004078128,0.551337464183,0.0186765952094,1.03967857803
+127,2.116666667,pose1_to_pose2_press,0.580778905151,0.0100018015453,1.04004073273,0.551350626243,0.0186766352138,1.03967853769
+128,2.133333333,pose1_to_pose2_press,0.580791812812,0.0100018091405,1.04004083845,0.551363533146,0.0186766402807,1.03967864441
+129,2.150000000,pose1_to_pose2_press,0.580802760737,0.0100017972403,1.0400410163,0.551374480331,0.0186766253138,1.0396788089
+130,2.166666667,pose1_to_pose2_press,0.580808146138,0.0100017913864,1.04004110378,0.551379865368,0.0186766179514,1.03967888982
+131,2.183333333,pose1_to_pose2_press,0.580809145077,0.0100017903005,1.04004112,0.551380864239,0.0186766165857,1.03967890483
+132,2.200000000,pose1_to_pose2_press,0.580811030933,0.0100017914159,1.04004112935,0.551382750064,0.0186766175632,1.03967891342
+133,2.216666667,pose1_to_pose2_press,0.580815314911,0.0100018009518,1.0400411035,0.551387034183,0.0186766276496,1.03967888928
+134,2.233333333,pose1_to_pose2_press,0.580822434841,0.0100018168005,1.04004106053,0.551394154348,0.0186766444131,1.03967884916
+135,2.250000000,pose1_to_pose2_press,0.580834986433,0.0100018447397,1.04004098479,0.551406706353,0.0186766739651,1.03967877843
+136,2.266666667,pose1_to_pose2_press,0.580853823266,0.0100018677465,1.04004081889,0.551425543114,0.018676696817,1.03967861461
+137,2.283333333,pose1_to_pose2_press,0.580879807454,0.010001898018,1.04004063217,0.551451526858,0.0186767256407,1.03967842931
+138,2.300000000,pose1_to_pose2_press,0.580912718101,0.0100019776028,1.04004085605,0.551484436255,0.0186768012372,1.03967865916
+139,2.316666667,pose1_to_pose2_press,0.580953528053,0.0100019234779,1.04004097017,0.551525246919,0.0186767492049,1.03967876551
+140,2.333333333,pose1_to_pose2_press,0.581003228918,0.0100018131347,1.04004089547,0.551574949405,0.0186766442993,1.03967868925
+141,2.350000000,pose1_to_pose2_press,0.581063318418,0.0100017282985,1.04004071859,0.551635040023,0.01867656362,1.0396785211
+142,2.366666667,pose1_to_pose2_press,0.581135726376,0.0100017433967,1.04004086045,0.5517074469,0.0186765745921,1.03967865192
+143,2.383333333,pose1_to_pose2_press,0.581220940417,0.0100018848985,1.04004098025,0.551792659265,0.0186767103393,1.03967876993
+144,2.400000000,pose1_to_pose2_press,0.581319737606,0.0100018183406,1.04004090794,0.551891457696,0.018676647823,1.03967869354
+145,2.416666667,pose1_to_pose2_press,0.581432232356,0.0100017618422,1.0400408984,0.552003952414,0.0186765911417,1.03967868229
+146,2.433333333,pose1_to_pose2_press,0.581559566466,0.010001709381,1.04004088484,0.552131287113,0.0186765407956,1.03967867146
+147,2.450000000,pose1_to_pose2_press,0.58170104517,0.0100018233314,1.04004076586,0.552272764888,0.0186766520695,1.03967856379
+148,2.466666667,pose1_to_pose2_press,0.581856861095,0.0100018857787,1.04004076766,0.552428581019,0.0186767153325,1.03967856839
+149,2.483333333,pose1_to_pose2_press,0.582031885402,0.0100017712137,1.04004083454,0.552603607121,0.0186766067468,1.03967863255
+150,2.500000000,pose1_to_pose2_press,0.582225755556,0.0100017001777,1.0400407901,0.55279747696,0.0186765346154,1.03967858741
+151,2.516666667,pose1_to_pose2_press,0.582438798481,0.0100018416505,1.04004079762,0.553010517422,0.0186766676044,1.03967859182
+152,2.533333333,pose1_to_pose2_press,0.582669702856,0.010001939018,1.04004094729,0.55324142238,0.018676767012,1.03967874292
+153,2.550000000,pose1_to_pose2_press,0.582918795265,0.0100018596431,1.04004083072,0.553490515674,0.0186766907524,1.039678629
+154,2.566666667,pose1_to_pose2_press,0.583179428986,0.0100018082585,1.04004083827,0.553751148685,0.018676636998,1.03967863742
+155,2.583333333,pose1_to_pose2_press,0.58345122321,0.0100018329196,1.04004103957,0.554022942948,0.0186766618174,1.03967883928
+156,2.600000000,pose1_to_pose2_press,0.583743638666,0.0100019186869,1.04004101109,0.5543153576,0.0186767444775,1.03967880172
+157,2.616666667,pose1_to_pose2_press,0.584056928426,0.0100018393759,1.04004085685,0.554628648681,0.0186766701943,1.03967866049
+158,2.633333333,pose1_to_pose2_press,0.584392368405,0.0100018226953,1.0400409013,0.554964088661,0.0186766533457,1.03967870075
+159,2.650000000,pose1_to_pose2_press,0.584757132222,0.0100018051188,1.04004098309,0.555328852177,0.0186766344207,1.03967877474
+160,2.666666667,pose1_to_pose2_press,0.585155994608,0.010001792769,1.04004102481,0.555727715066,0.0186766238432,1.03967881796
+161,2.683333333,pose1_to_pose2_press,0.585579214415,0.0100018621113,1.04004105216,0.556150935085,0.018676693917,1.03967884554
+162,2.700000000,pose1_to_pose2_press,0.586026747841,0.010001872144,1.0400408904,0.556598468502,0.0186767039917,1.0396786854
+163,2.716666667,pose1_to_pose2_press,0.586499455715,0.0100018650002,1.04004075701,0.557071176088,0.0186766958804,1.03967855228
+164,2.733333333,pose1_to_pose2_press,0.586987555328,0.010001867367,1.04004083827,0.55755927578,0.0186766985639,1.03967863468
+165,2.750000000,pose1_to_pose2_press,0.587483543759,0.0100016997672,1.04004084547,0.558055265839,0.0186765361558,1.03967863382
+166,2.766666667,pose1_to_pose2_press,0.587989632427,0.0100016614114,1.0400406155,0.558561354668,0.0186764986447,1.03967841103
+167,2.783333333,pose1_to_pose2_press,0.588507231307,0.0100018719482,1.04004081874,0.559078952793,0.0186767067084,1.03967861633
+168,2.800000000,pose1_to_pose2_press,0.589054236398,0.0100018466988,1.04004085287,0.559625956681,0.0186766772102,1.03967864639
+169,2.816666667,pose1_to_pose2_press,0.58963126255,0.0100019024661,1.04004064878,0.560202982214,0.018676731129,1.03967844839
+170,2.833333333,pose1_to_pose2_press,0.590239754764,0.0100018547455,1.04004068767,0.560811475679,0.0186766875222,1.03967848412
+171,2.850000000,pose1_to_pose2_press,0.590869714324,0.0100018704895,1.04004073113,0.561441434023,0.0186766990296,1.03967852486
+172,2.866666667,pose1_to_pose2_press,0.591515163649,0.0100018548976,1.04004087597,0.562086882954,0.0186766821131,1.03967866995
+173,2.883333333,pose1_to_pose2_press,0.592163789256,0.0100017789588,1.04004083894,0.562735510521,0.0186766129399,1.03967863569
+174,2.900000000,pose1_to_pose2_press,0.592819522993,0.0100018164274,1.04004083592,0.563391244233,0.0186766502754,1.03967863157
+175,2.916666667,pose1_to_pose2_press,0.593495949653,0.0100018751425,1.04004092657,0.564067669701,0.0186767049811,1.03967872303
+176,2.933333333,pose1_to_pose2_press,0.594193802044,0.0100018104204,1.04004080936,0.564765523258,0.0186766445384,1.03967861357
+177,2.950000000,pose1_to_pose2_press,0.594911830187,0.010001884028,1.04004081775,0.565483550741,0.0186767158289,1.03967862001
+178,2.966666667,pose1_to_pose2_press,0.595645205181,0.0100018421336,1.04004077024,0.566216925693,0.0186766741032,1.03967857997
+179,2.983333333,pose1_to_pose2_press,0.596392422507,0.0100017626301,1.04004076297,0.566964141681,0.0186765892558,1.03967855348
+180,3.000000000,pose1_to_pose2_press,0.597145046765,0.0100018133358,1.040040827,0.567716767852,0.0186766467661,1.03967862506
+181,3.016666667,pose1_to_pose2_press,0.597905482467,0.0100018368241,1.04004070269,0.568477200636,0.0186766605695,1.03967850584
+182,3.033333333,pose1_to_pose2_press,0.598674437391,0.0100018839101,1.04004094842,0.569246156882,0.0186767116849,1.03967874063
+183,3.050000000,pose1_to_pose2_press,0.599452049782,0.0100018460632,1.04004087727,0.570023770219,0.0186766770842,1.03967867053
+184,3.066666667,pose1_to_pose2_press,0.600241885732,0.0100018095381,1.04004081587,0.570813605786,0.0186766395975,1.03967861716
+185,3.083333333,pose1_to_pose2_press,0.601034221262,0.010001776261,1.04004086163,0.571605941462,0.0186766064116,1.03967865322
+186,3.100000000,pose1_to_pose2_press,0.601827366832,0.0100018569516,1.04004080953,0.572399086311,0.0186766851338,1.03967861268
+187,3.116666667,pose1_to_pose2_press,0.602615653003,0.010001891598,1.04004086641,0.573187372175,0.0186767188407,1.03967867203
+188,3.133333333,pose1_to_pose2_press,0.603399809346,0.0100018043897,1.04004083292,0.573971529553,0.0186766349625,1.03967863423
+189,3.150000000,pose1_to_pose2_press,0.604187030032,0.0100017447124,1.04004074504,0.574758751425,0.0186765793047,1.03967854626
+190,3.166666667,pose1_to_pose2_press,0.604977934519,0.0100018234299,1.04004084387,0.575549655134,0.018676655177,1.03967864023
+191,3.183333333,pose1_to_pose2_press,0.605771979733,0.0100018937718,1.04004084343,0.576343698072,0.0186767177605,1.03967863896
+192,3.200000000,pose1_to_pose2_press,0.6065709012,0.0100018103887,1.04004084694,0.577142620662,0.0186766379177,1.03967863598
+193,3.216666667,pose1_to_pose2_press,0.607368653727,0.0100018764191,1.04004075486,0.577940372931,0.0186767031008,1.03967854463
+194,3.233333333,pose1_to_pose2_press,0.608161021254,0.0100019136137,1.0400407067,0.578732740073,0.0186767394928,1.03967850859
+195,3.250000000,pose1_to_pose2_press,0.608945479181,0.0100018831528,1.04004098629,0.579517198938,0.0186767117011,1.03967877598
+196,3.266666667,pose1_to_pose2_press,0.609714553194,0.0100017229821,1.04004071557,0.580286272599,0.0186765508587,1.03967851791
+197,3.283333333,pose1_to_pose2_press,0.610473751918,0.0100018397562,1.04004082533,0.581045472087,0.0186766699165,1.03967862035
+198,3.300000000,pose1_to_pose2_press,0.611221975327,0.0100018318667,1.04004093447,0.581793695657,0.0186766625809,1.03967872968
+199,3.316666667,pose1_to_pose2_press,0.611963080069,0.0100017587466,1.04004078393,0.582534800264,0.0186765892229,1.03967858453
+200,3.333333333,pose1_to_pose2_press,0.612697924845,0.0100018671186,1.04004078685,0.583269645348,0.0186766985996,1.03967858648
+201,3.350000000,pose1_to_pose2_press,0.61342163869,0.0100019517321,1.04004081792,0.583993358506,0.0186767810559,1.03967862181
+202,3.366666667,pose1_to_pose2_press,0.614134236659,0.0100019382981,1.04004069106,0.584705955232,0.0186767634457,1.039678496
+203,3.383333333,pose1_to_pose2_press,0.614834480891,0.0100018744906,1.04004081266,0.585406199178,0.0186766982791,1.03967860834
+204,3.400000000,pose1_to_pose2_press,0.615512725421,0.0100017994138,1.04004105962,0.586084444778,0.018676626619,1.03967885026
+205,3.416666667,pose1_to_pose2_press,0.616173724189,0.0100017993214,1.04004085794,0.586745444098,0.0186766285588,1.03967865248
+206,3.433333333,pose1_to_pose2_press,0.616822460918,0.0100018212997,1.04004062772,0.587394179898,0.0186766475308,1.03967842584
+207,3.450000000,pose1_to_pose2_press,0.617455254498,0.0100017988603,1.04004079177,0.58802697586,0.0186766331309,1.03967858895
+208,3.466666667,pose1_to_pose2_press,0.618062770987,0.0100018591901,1.04004108986,0.588634491976,0.0186766918544,1.03967887899
+209,3.483333333,pose1_to_pose2_press,0.618645015878,0.0100019774954,1.04004081492,0.58921673326,0.0186767985152,1.03967861813
+210,3.500000000,pose1_to_pose2_press,0.619203794405,0.0100018839827,1.04004085614,0.589775512602,0.0186767073871,1.03967865072
+211,3.516666667,pose1_to_pose2_press,0.619749778206,0.0100019672036,1.04004083931,0.590321497116,0.0186767931774,1.03967863702
+212,3.533333333,pose1_to_pose2_press,0.620285380392,0.0100017324804,1.04004072989,0.590857099647,0.0186765595831,1.03967852701
+213,3.550000000,pose1_to_pose2_press,0.620805985478,0.0100017664204,1.04004083343,0.591377705614,0.0186765962816,1.03967862531
+214,3.566666667,pose1_to_pose2_press,0.621303685269,0.0100018276554,1.04004093658,0.591875405346,0.018676657583,1.03967873317
+215,3.583333333,pose1_to_pose2_press,0.621769442483,0.0100017778118,1.04004081141,0.59234116316,0.0186766096915,1.03967860442
+216,3.600000000,pose1_to_pose2_press,0.622201458128,0.0100018746745,1.04004081748,0.592773178453,0.0186767054745,1.03967861213
+217,3.616666667,pose1_to_pose2_press,0.622602971099,0.0100018903203,1.0400408663,0.593174691369,0.0186767208975,1.03967865926
+218,3.633333333,pose1_to_pose2_press,0.622987931697,0.0100018358816,1.04004086297,0.593559652027,0.0186766666719,1.03967865573
+219,3.650000000,pose1_to_pose2_press,0.623358718751,0.0100018478271,1.04004094221,0.593930438289,0.0186766759479,1.03967873554
+220,3.666666667,pose1_to_pose2_press,0.623716938517,0.010001900795,1.04004104254,0.594288657175,0.0186767256827,1.03967883021
+221,3.683333333,pose1_to_pose2_press,0.624057917034,0.0100019132626,1.04004089314,0.594629635194,0.0186767365198,1.0396786827
+222,3.700000000,pose1_to_pose2_press,0.624377471125,0.0100018683244,1.04004088794,0.594949188039,0.0186766875463,1.03967868244
+223,3.716666667,pose1_to_pose2_press,0.624671924681,0.010001781567,1.04004064342,0.595243645018,0.0186766124038,1.03967843803
+224,3.733333333,pose1_to_pose2_press,0.624941405424,0.0100017503268,1.040040809,0.595513124691,0.0186765779667,1.03967861373
+225,3.750000000,pose1_to_pose2_press,0.625184557957,0.0100018436954,1.04004086735,0.595756276221,0.0186766673359,1.03967865761
+226,3.766666667,pose1_to_pose2_press,0.625405194947,0.0100017904883,1.04004079155,0.595976916277,0.018676625276,1.03967859961
+227,3.783333333,pose1_to_pose2_press,0.625604110091,0.0100018916904,1.0400408321,0.596175829647,0.0186767200651,1.03967863019
+228,3.800000000,pose1_to_pose2_press,0.625785479899,0.0100018922841,1.0400407741,0.596357198142,0.0186767160433,1.03967856719
+229,3.816666667,pose1_to_pose2_press,0.625950757961,0.0100018150292,1.04004085567,0.596522477122,0.0186766418891,1.03967864717
+230,3.833333333,pose1_to_pose2_press,0.626104543396,0.0100018118489,1.0400409466,0.596676262966,0.0186766399339,1.03967873431
+231,3.850000000,pose1_to_pose2_press,0.626247198243,0.0100018684809,1.04004098523,0.596818917008,0.0186766937694,1.03967877265
+232,3.866666667,pose1_to_pose2_press,0.626378405774,0.0100018058077,1.04004111805,0.596950126077,0.0186766366917,1.03967891496
+233,3.883333333,pose1_to_pose2_press,0.626497094791,0.0100018337498,1.04004085841,0.597068815731,0.0186766666009,1.03967865034
+234,3.900000000,pose1_to_pose2_press,0.626601042318,0.0100017321413,1.04004082708,0.597172763717,0.0186765666092,1.03967862033
+235,3.916666667,pose1_to_pose2_press,0.626690369224,0.0100017981624,1.040040627,0.597262089028,0.0186766272148,1.03967842286
+236,3.933333333,pose1_to_pose2_press,0.626765677603,0.0100018395264,1.04004094556,0.597337398431,0.0186766725174,1.03967874382
+237,3.950000000,pose1_to_pose2_press,0.626829248524,0.0100018045735,1.04004085337,0.59740096868,0.0186766352182,1.03967864984
+238,3.966666667,pose1_to_pose2_press,0.626883072916,0.0100018426729,1.0400408975,0.597454792419,0.0186766712183,1.03967870156
+239,3.983333333,pose1_to_pose2_press,0.626928638472,0.0100019316267,1.04004084378,0.59750035664,0.0186767556024,1.03967864849
+240,4.000000000,pose1_to_pose2_press,0.626966736042,0.0100017991136,1.04004089369,0.597538456462,0.0186766305849,1.03967869468
+241,4.016666667,pose1_to_pose2_press,0.626997211886,0.0100018482758,1.04004101222,0.597568932494,0.0186766804334,1.03967881167
+242,4.033333333,pose1_to_pose2_press,0.627021373367,0.0100019490661,1.04004091618,0.59759309262,0.0186767766195,1.03967871405
+243,4.050000000,pose1_to_pose2_press,0.627039769562,0.0100018962704,1.04004076766,0.597611488975,0.0186767242913,1.03967856516
+244,4.066666667,pose1_to_pose2_press,0.627053180846,0.0100018622738,1.04004085752,0.597624900645,0.0186766916739,1.03967865809
+245,4.083333333,pose1_to_pose2_press,0.627063008951,0.0100018451675,1.04004094162,0.597634728865,0.0186766748953,1.03967874114
+246,4.100000000,pose1_to_pose2_press,0.627069837693,0.0100018978111,1.04004085206,0.597641556852,0.01867672486,1.0396786472
+247,4.116666667,pose1_to_pose2_press,0.627074283585,0.0100018630143,1.0400408716,0.597646002415,0.0186766887344,1.03967866168
+248,4.133333333,pose1_to_pose2_press,0.627076583756,0.0100018549022,1.04004087292,0.597648302564,0.0186766805291,1.03967866256
+249,4.150000000,pose1_to_pose2_press,0.627077920129,0.0100018571465,1.04004086703,0.597649638994,0.0186766830056,1.03967865756
+250,4.166666667,pose1_to_pose2_press,0.627078561829,0.0100018690912,1.04004085661,0.597650280577,0.0186766946623,1.03967864965
+251,4.183333333,pose1_to_pose2_press,0.627078799278,0.0100018753421,1.04004085147,0.597650517957,0.0186767007394,1.03967864579
+252,4.200000000,pose1_to_pose2_press,0.627078938893,0.0100018790176,1.04004084845,0.597650657532,0.0186767043126,1.03967864352
+253,4.216666667,pose1_to_pose2_press,0.627079119633,0.0100018837757,1.04004084454,0.59765083822,0.0186767089384,1.03967864058
+254,4.233333333,pose1_to_pose2_press,0.627079193261,0.010001885714,1.04004084295,0.597650911828,0.0186767108228,1.03967863938
+255,4.250000000,pose1_to_pose2_press,0.62707922688,0.010001886599,1.04004084222,0.597650945437,0.0186767116832,1.03967863884
+256,4.266666667,pose1_to_pose2_press,0.627079378969,0.0100018906028,1.04004083893,0.597651097482,0.0186767155756,1.03967863636
+257,4.283333333,pose1_to_pose2_press,0.627079608895,0.0100018560305,1.04004086796,0.597651327881,0.0186766826027,1.03967866523
+258,4.300000000,pose1_to_pose2_press,0.627079916735,0.0100017790485,1.04004093252,0.597651636762,0.0186766090978,1.0396787285
+259,4.316666667,pose1_to_pose2_press,0.627080163359,0.0100018386709,1.04004082121,0.597651882828,0.0186766669623,1.03967862044
+260,4.333333333,pose1_to_pose2_press,0.627080265819,0.0100019280191,1.04004068816,0.597651984316,0.0186767531656,1.03967849103
+261,4.350000000,pose2_hold,0.627080265819,0.0100019280191,1.04004068816,0.597651984349,0.0186767531586,1.03967849103
+262,4.366666667,pose2_hold,0.627080265819,0.0100019280191,1.04004068816,0.597651984349,0.0186767531588,1.03967849103
+263,4.383333333,pose2_hold,0.627080265819,0.0100019280191,1.04004068816,0.59765198435,0.0186767531587,1.03967849103
+264,4.400000000,pose2_hold,0.627080265819,0.0100019280191,1.04004068816,0.597651984351,0.018676753158,1.03967849103
+265,4.416666667,pose2_hold,0.627080265819,0.0100019280191,1.04004068816,0.59765198435,0.0186767531588,1.03967849103
+266,4.433333333,pose2_hold,0.627080265819,0.0100019280191,1.04004068816,0.597651984351,0.0186767531587,1.03967849103
+267,4.450000000,pose2_hold,0.627080265819,0.0100019280191,1.04004068816,0.597651984352,0.0186767531573,1.03967849103
+268,4.466666667,pose2_hold,0.627080265819,0.0100019280191,1.04004068816,0.597651984353,0.0186767531571,1.03967849103
+269,4.483333333,pose2_hold,0.627080265819,0.0100019280191,1.04004068816,0.597651984354,0.0186767531575,1.03967849103
+270,4.500000000,pose2_hold,0.627080265819,0.0100019280191,1.04004068816,0.597651984354,0.0186767531576,1.03967849103
+271,4.516666667,pose2_hold,0.627080265819,0.0100019280191,1.04004068816,0.597651984354,0.0186767531579,1.03967849103
+272,4.533333333,pose2_hold,0.627080265819,0.0100019280191,1.04004068816,0.597651984355,0.0186767531569,1.03967849103
+273,4.550000000,pose2_hold,0.627080265819,0.0100019280191,1.04004068816,0.597651984356,0.0186767531563,1.03967849103
+274,4.566666667,pose2_hold,0.627080265819,0.0100019280191,1.04004068816,0.597651984357,0.0186767531565,1.03967849103
+275,4.583333333,pose2_hold,0.627080265819,0.0100019280191,1.04004068816,0.597651984357,0.0186767531561,1.03967849103
+276,4.600000000,pose2_hold,0.627080265819,0.0100019280191,1.04004068816,0.597651984357,0.0186767531561,1.03967849103
+277,4.616666667,pose2_hold,0.627080265819,0.0100019280191,1.04004068816,0.597651984358,0.0186767531561,1.03967849103
+278,4.633333333,pose2_hold,0.627080265819,0.0100019280191,1.04004068816,0.597651984358,0.018676753156,1.03967849103
+279,4.650000000,pose2_to_pose3_retreat,0.627080265819,0.0100019280191,1.04004068816,0.59765198436,0.0186767531556,1.03967849103
+280,4.666666667,pose2_to_pose3_retreat,0.627079992705,0.010001971463,1.04004073243,0.597651710955,0.0186767953208,1.03967852815
+281,4.683333333,pose2_to_pose3_retreat,0.627079766789,0.0100019236382,1.04004098224,0.597651485827,0.018676750024,1.03967877449
+282,4.700000000,pose2_to_pose3_retreat,0.627079460967,0.0100019596352,1.04004096875,0.597651179373,0.0186767839967,1.03967876396
+283,4.716666667,pose2_to_pose3_retreat,0.627079383298,0.0100019687773,1.04004096533,0.597651101543,0.0186767926247,1.03967876128
+284,4.733333333,pose2_to_pose3_retreat,0.627079234379,0.010001986306,1.04004095876,0.597650952315,0.0186768091677,1.03967875616
+285,4.750000000,pose2_to_pose3_retreat,0.627078797761,0.0100020376985,1.04004093951,0.597650514794,0.0186768576701,1.03967874112
+286,4.766666667,pose2_to_pose3_retreat,0.627077433147,0.0100019290583,1.04004095319,0.597649151437,0.0186767531731,1.03967875191
+287,4.783333333,pose2_to_pose3_retreat,0.627073650609,0.0100017893892,1.04004076939,0.59764537067,0.0186766193716,1.03967856484
+288,4.800000000,pose2_to_pose3_retreat,0.627064281467,0.0100017970334,1.04004071642,0.597636001547,0.0186766271061,1.03967851217
+289,4.816666667,pose2_to_pose3_retreat,0.627047388706,0.0100018938093,1.04004078916,0.597619108772,0.0186767237984,1.03967858418
+290,4.833333333,pose2_to_pose3_retreat,0.627018988128,0.0100018694888,1.04004087352,0.59759070804,0.0186766990596,1.03967867151
+291,4.850000000,pose2_to_pose3_retreat,0.626979428459,0.0100018597163,1.04004111821,0.597551146239,0.0186766814486,1.03967890395
+292,4.866666667,pose2_to_pose3_retreat,0.626929702949,0.0100017641654,1.0400406311,0.597501423137,0.0186765948885,1.03967843686
+293,4.883333333,pose2_to_pose3_retreat,0.626871809253,0.01000181601,1.04004100485,0.597443528933,0.0186766443235,1.03967879179
+294,4.900000000,pose2_to_pose3_retreat,0.626806137658,0.0100018647739,1.04004097441,0.59737785617,0.0186766893539,1.03967876664
+295,4.916666667,pose2_to_pose3_retreat,0.626734242017,0.0100018085426,1.04004092968,0.59730596106,0.0186766350881,1.03967872838
+296,4.933333333,pose2_to_pose3_retreat,0.626655454508,0.0100017713794,1.04004086051,0.597227174749,0.0186766016909,1.03967864989
+297,4.950000000,pose2_to_pose3_retreat,0.626565879013,0.0100017689265,1.04004083784,0.597137599819,0.0186766013182,1.03967863377
+298,4.966666667,pose2_to_pose3_retreat,0.626464309858,0.0100018599546,1.04004090005,0.597036029348,0.0186766880946,1.039678702
+299,4.983333333,pose2_to_pose3_retreat,0.626348029037,0.0100018685356,1.04004094354,0.596919748586,0.0186766968531,1.03967874531
+300,5.000000000,pose2_to_pose3_retreat,0.626216742908,0.0100018598142,1.0400408146,0.596788463234,0.01867669062,1.03967861297
+301,5.016666667,pose2_to_pose3_retreat,0.626069391317,0.0100019102577,1.04004073409,0.596641111596,0.0186767407643,1.03967852902
+302,5.033333333,pose2_to_pose3_retreat,0.625904604065,0.0100019530838,1.04004105814,0.596476323416,0.0186767803018,1.03967884982
+303,5.050000000,pose2_to_pose3_retreat,0.625722907376,0.0100019392968,1.04004071818,0.596294625173,0.018676761498,1.03967851611
+304,5.066666667,pose2_to_pose3_retreat,0.625525702538,0.0100017428315,1.04004083438,0.596097423781,0.0186765765762,1.0396786288
+305,5.083333333,pose2_to_pose3_retreat,0.625313505921,0.0100018430762,1.04004075927,0.595885226344,0.0186766741142,1.03967855552
+306,5.100000000,pose2_to_pose3_retreat,0.62508518652,0.0100018477415,1.04004088711,0.595656906094,0.0186766756952,1.03967867857
+307,5.116666667,pose2_to_pose3_retreat,0.624840257941,0.0100018561047,1.04004089732,0.595411976422,0.0186766802273,1.03967868595
+308,5.133333333,pose2_to_pose3_retreat,0.624577009451,0.0100019205518,1.04004070194,0.595148726474,0.0186767399189,1.03967849514
+309,5.150000000,pose2_to_pose3_retreat,0.624284984134,0.0100019337229,1.04004060585,0.594856700948,0.0186767526241,1.03967840472
+310,5.166666667,pose2_to_pose3_retreat,0.623965517171,0.0100018534164,1.04004077127,0.594537238233,0.0186766862288,1.03967855824
+311,5.183333333,pose2_to_pose3_retreat,0.623619063704,0.0100017507255,1.04004082745,0.594190785275,0.0186765857134,1.03967862556
+312,5.200000000,pose2_to_pose3_retreat,0.623247897442,0.0100018393221,1.04004097844,0.593819616692,0.0186766660205,1.03967876669
+313,5.216666667,pose2_to_pose3_retreat,0.622850388632,0.0100017568505,1.04004088902,0.593422108507,0.0186765858049,1.03967868055
+314,5.233333333,pose2_to_pose3_retreat,0.622435175962,0.0100018371505,1.04004086685,0.593006896486,0.0186766682766,1.03967865785
+315,5.250000000,pose2_to_pose3_retreat,0.622001233007,0.010001887544,1.04004087686,0.5925729527,0.0186767157937,1.0396786667
+316,5.266666667,pose2_to_pose3_retreat,0.621544512182,0.0100018444884,1.04004086204,0.592116232098,0.0186766735936,1.03967865447
+317,5.283333333,pose2_to_pose3_retreat,0.621067091276,0.010001858869,1.04004085931,0.591638811745,0.0186766898834,1.03967865237
+318,5.300000000,pose2_to_pose3_retreat,0.620568580272,0.0100019773788,1.04004097086,0.591140299027,0.0186768024537,1.03967876043
+319,5.316666667,pose2_to_pose3_retreat,0.62004746958,0.010001974704,1.04004119088,0.590619186964,0.0186767952981,1.03967898437
+320,5.333333333,pose2_to_pose3_retreat,0.619501990589,0.0100017745746,1.04004105587,0.590073709992,0.0186766022292,1.03967885445
+321,5.350000000,pose2_to_pose3_retreat,0.618932574652,0.010001961555,1.0400408763,0.589504292695,0.0186767842846,1.03967866721
+322,5.366666667,pose2_to_pose3_retreat,0.618341583627,0.0100019611089,1.0400408479,0.588913301946,0.0186767848798,1.03967864231
+323,5.383333333,pose2_to_pose3_retreat,0.617735022925,0.0100017730352,1.04004084827,0.588306742022,0.0186765993601,1.03967864075
+324,5.400000000,pose2_to_pose3_retreat,0.61711472606,0.010001798444,1.04004083902,0.587686446152,0.0186766283241,1.03967863581
+325,5.416666667,pose2_to_pose3_retreat,0.616479032533,0.0100017098914,1.04004077903,0.587050754637,0.0186765466,1.0396785759
+326,5.433333333,pose2_to_pose3_retreat,0.61582568328,0.0100016583088,1.04004083777,0.586397405543,0.0186764954145,1.03967863062
+327,5.450000000,pose2_to_pose3_retreat,0.615151512788,0.0100017868016,1.04004098059,0.585723232928,0.0186766166628,1.03967877176
+328,5.466666667,pose2_to_pose3_retreat,0.614453328849,0.0100018584694,1.04004092253,0.585025048123,0.0186766854904,1.03967871614
+329,5.483333333,pose2_to_pose3_retreat,0.613734207515,0.0100018004423,1.04004074988,0.584305927259,0.0186766292268,1.03967854667
+330,5.500000000,pose2_to_pose3_retreat,0.612995946493,0.0100018653118,1.04004096195,0.583567665722,0.0186766922464,1.03967875624
+331,5.516666667,pose2_to_pose3_retreat,0.612245453588,0.0100018031609,1.04004085326,0.582817174563,0.0186766358988,1.03967864657
+332,5.533333333,pose2_to_pose3_retreat,0.611485717268,0.010001910211,1.04004064143,0.582057436755,0.0186767379467,1.03967843577
+333,5.550000000,pose2_to_pose3_retreat,0.610724852221,0.0100019011204,1.04004088433,0.581296569707,0.0186767220249,1.0396786777
+334,5.566666667,pose2_to_pose3_retreat,0.609964530595,0.0100019164019,1.04004091131,0.580536247772,0.018676736242,1.03967870145
+335,5.583333333,pose2_to_pose3_retreat,0.609196855403,0.0100018381941,1.04004093617,0.579768573981,0.0186766627413,1.03967872599
+336,5.600000000,pose2_to_pose3_retreat,0.608418754344,0.0100018205332,1.04004087744,0.578990473496,0.0186766470953,1.03967867082
+337,5.616666667,pose2_to_pose3_retreat,0.607624860497,0.0100018991373,1.04004076314,0.578196579002,0.0186767236037,1.03967855887
+338,5.633333333,pose2_to_pose3_retreat,0.606817891574,0.0100018834095,1.04004080192,0.57738961037,0.0186767088265,1.03967859669
+339,5.650000000,pose2_to_pose3_retreat,0.606002999479,0.010001903115,1.04004063633,0.576574718332,0.0186767289338,1.03967843603
+340,5.666666667,pose2_to_pose3_retreat,0.605181340484,0.0100017031838,1.04004097971,0.575753061387,0.0186765356243,1.0396787714
+341,5.683333333,pose2_to_pose3_retreat,0.604360261877,0.0100019272748,1.04004071724,0.574931981709,0.0186767565486,1.03967852008
+342,5.700000000,pose2_to_pose3_retreat,0.603558457209,0.010001819931,1.04004081753,0.574130177282,0.0186766497828,1.03967861462
+343,5.716666667,pose2_to_pose3_retreat,0.602762887438,0.0100017887274,1.04004090479,0.573334607812,0.0186766197562,1.03967870559
+344,5.733333333,pose2_to_pose3_retreat,0.601964715684,0.0100018139089,1.04004090591,0.572536435118,0.0186766415159,1.03967869949
+345,5.750000000,pose2_to_pose3_retreat,0.601171847948,0.0100018438052,1.04004090688,0.571743567088,0.0186766705539,1.03967870225
+346,5.766666667,pose2_to_pose3_retreat,0.60038066733,0.0100018486475,1.0400409066,0.570952387073,0.0186766776866,1.03967870724
+347,5.783333333,pose2_to_pose3_retreat,0.599586949087,0.0100018188339,1.04004087749,0.570158669171,0.0186766488524,1.03967867365
+348,5.800000000,pose2_to_pose3_retreat,0.598793109592,0.0100017756235,1.04004094116,0.569364830141,0.0186766075715,1.03967874579
+349,5.816666667,pose2_to_pose3_retreat,0.598000382933,0.0100018179176,1.04004110475,0.568572103329,0.0186766486787,1.03967889332
+350,5.833333333,pose2_to_pose3_retreat,0.597217499459,0.0100018527853,1.04004087369,0.567789219764,0.018676683385,1.03967866576
+351,5.850000000,pose2_to_pose3_retreat,0.596448750824,0.0100018364942,1.04004080094,0.567020471725,0.0186766697391,1.03967860798
+352,5.866666667,pose2_to_pose3_retreat,0.595697163364,0.01000183352,1.04004083369,0.566268884073,0.018676665768,1.03967863243
+353,5.883333333,pose2_to_pose3_retreat,0.594964671082,0.0100019392843,1.04004085199,0.565536389788,0.01867676454,1.03967864598
+354,5.900000000,pose2_to_pose3_retreat,0.594251198877,0.0100018769911,1.040040931,0.56482291792,0.0186767032195,1.03967872087
+355,5.916666667,pose2_to_pose3_retreat,0.593550742611,0.010001760072,1.04004094488,0.564122462697,0.0186765897327,1.03967873221
+356,5.933333333,pose2_to_pose3_retreat,0.592858944581,0.0100017843856,1.04004081864,0.56343066363,0.0186766107217,1.03967861068
+357,5.950000000,pose2_to_pose3_retreat,0.59217516399,0.0100018904127,1.04004073723,0.562746881399,0.0186767115032,1.03967853683
+358,5.966666667,pose2_to_pose3_retreat,0.591503528239,0.010001933916,1.04004086629,0.562075246537,0.0186767577214,1.0396786587
+359,5.983333333,pose2_to_pose3_retreat,0.590848781209,0.010001840531,1.04004084319,0.561420500428,0.0186766676728,1.03967864058
+360,6.000000000,pose2_to_pose3_retreat,0.590213487158,0.0100019642024,1.04004087707,0.560785203072,0.0186767798008,1.03967866648
+361,6.016666667,pose2_to_pose3_retreat,0.589602998253,0.0100018733116,1.04004096608,0.560174717751,0.0186767012137,1.039678759
+362,6.033333333,pose2_to_pose3_retreat,0.589014316935,0.0100017569592,1.04004085812,0.55958603788,0.0186765900281,1.0396786599
+363,6.050000000,pose2_to_pose3_retreat,0.588449588755,0.0100017413486,1.04004091673,0.55902130934,0.0186765729081,1.03967871226
+364,6.066666667,pose2_to_pose3_retreat,0.587909582985,0.0100017469681,1.04004098409,0.558481303373,0.0186765776743,1.03967877499
+365,6.083333333,pose2_to_pose3_retreat,0.587393205099,0.0100017838857,1.04004087448,0.557964925142,0.0186766136457,1.03967867073
+366,6.100000000,pose2_to_pose3_retreat,0.586895807279,0.0100018714535,1.04004069264,0.55746752613,0.0186766974401,1.03967849538
+367,6.116666667,pose2_to_pose3_retreat,0.586412531635,0.010001887412,1.04004072604,0.556984249977,0.0186767116664,1.03967852858
+368,6.133333333,pose2_to_pose3_retreat,0.585941282641,0.0100017933051,1.04004092507,0.556513002962,0.0186766243367,1.03967872912
+369,6.150000000,pose2_to_pose3_retreat,0.585486734902,0.0100018686963,1.04004084536,0.556058454018,0.0186766953289,1.03967864182
+370,6.166666667,pose2_to_pose3_retreat,0.585052433956,0.0100019433039,1.04004085228,0.555624152778,0.0186767688583,1.03967864662
+371,6.183333333,pose2_to_pose3_retreat,0.584651675584,0.0100017946481,1.04004086602,0.555223395097,0.0186766224849,1.03967865833
+372,6.200000000,pose2_to_pose3_retreat,0.584283682261,0.0100017843356,1.04004083378,0.554855403037,0.0186766167656,1.03967863372
+373,6.216666667,pose2_to_pose3_retreat,0.583946989806,0.0100018924121,1.04004067032,0.554518709234,0.0186767203717,1.03967847317
+374,6.233333333,pose2_to_pose3_retreat,0.583634801547,0.0100019460931,1.04004063038,0.554206519455,0.0186767688314,1.03967843196
+375,6.250000000,pose2_to_pose3_retreat,0.583343923119,0.0100018709362,1.04004070966,0.553915641512,0.0186766951846,1.0396785081
+376,6.266666667,pose2_to_pose3_retreat,0.583062266143,0.0100017604879,1.04004070459,0.553633986224,0.0186765903192,1.03967849935
+377,6.283333333,pose2_to_pose3_retreat,0.582789417966,0.0100018761735,1.04004063162,0.553361136342,0.0186767002361,1.03967842651
+378,6.300000000,pose2_to_pose3_retreat,0.582532917099,0.0100018877984,1.04004085109,0.553104636302,0.0186767146866,1.03967864676
+379,6.316666667,pose2_to_pose3_retreat,0.582294341024,0.0100018883397,1.04004093194,0.552866061648,0.0186767203473,1.03967873456
+380,6.333333333,pose2_to_pose3_retreat,0.582078100783,0.0100018334499,1.04004105503,0.552649820896,0.0186766636359,1.03967885547
+381,6.350000000,pose2_to_pose3_retreat,0.581885731924,0.0100017657847,1.04004088269,0.552457453173,0.0186765994624,1.03967867446
+382,6.366666667,pose2_to_pose3_retreat,0.581718129605,0.0100019936688,1.04004089236,0.552289847668,0.0186768163198,1.03967867912
+383,6.383333333,pose2_to_pose3_retreat,0.581570425064,0.010001999275,1.04004097089,0.552142142182,0.0186768187306,1.03967875794
+384,6.400000000,pose2_to_pose3_retreat,0.581441324542,0.0100019576775,1.04004092551,0.552013042277,0.0186767792984,1.03967871425
+385,6.416666667,pose2_to_pose3_retreat,0.581327552433,0.0100020410889,1.04004091489,0.55189926938,0.0186768601734,1.03967870696
+386,6.433333333,pose2_to_pose3_retreat,0.581227330184,0.0100021020227,1.04004098117,0.551799046697,0.0186769196447,1.03967877428
+387,6.450000000,pose2_to_pose3_retreat,0.581140099463,0.0100019534455,1.04004093284,0.551711818731,0.0186767802635,1.03967872384
+388,6.466666667,pose2_to_pose3_retreat,0.581063211163,0.0100019257235,1.04004058963,0.551634930517,0.018676753497,1.03967839492
+389,6.483333333,pose2_to_pose3_retreat,0.580996573647,0.0100019052119,1.04004102576,0.551568293923,0.0186767359469,1.03967882687
+390,6.500000000,pose2_to_pose3_retreat,0.580940212749,0.0100017886069,1.0400408609,0.551511934927,0.0186766258823,1.03967866411
+391,6.516666667,pose2_to_pose3_retreat,0.580893540065,0.0100018260975,1.04004072025,0.551465260574,0.0186766578081,1.03967852578
+392,6.533333333,pose2_to_pose3_retreat,0.580856882556,0.0100018287232,1.04004084183,0.551428603037,0.0186766601777,1.03967864343
+393,6.550000000,pose2_to_pose3_retreat,0.580827778709,0.0100018102359,1.04004095222,0.551399499623,0.0186766430553,1.0396787513
+394,6.566666667,pose2_to_pose3_retreat,0.580805377319,0.0100018127778,1.04004091996,0.551377097906,0.0186766444973,1.03967871929
+395,6.583333333,pose2_to_pose3_retreat,0.580787979268,0.0100018274541,1.04004087014,0.551359699829,0.0186766588091,1.0396786629
+396,6.600000000,pose2_to_pose3_retreat,0.580774894531,0.0100018858588,1.04004092265,0.55134661436,0.0186767148948,1.03967871933
+397,6.616666667,pose2_to_pose3_retreat,0.580765003705,0.0100018619,1.04004084691,0.55133672389,0.0186766922263,1.03967864565
+398,6.633333333,pose2_to_pose3_retreat,0.580757669736,0.0100018045368,1.04004071586,0.551329390615,0.0186766372384,1.03967851518
+399,6.650000000,pose2_to_pose3_retreat,0.580752368685,0.0100018294285,1.04004070124,0.5513240887,0.0186766592879,1.03967850278
+400,6.666666667,pose2_to_pose3_retreat,0.580748897561,0.0100017867811,1.04004071501,0.551320618052,0.0186766181062,1.03967851293
+401,6.683333333,pose2_to_pose3_retreat,0.580746897149,0.010001746164,1.0400407398,0.551318618185,0.0186765791907,1.03967853399
+402,6.700000000,pose2_to_pose3_retreat,0.58074562055,0.0100017220405,1.04004082584,0.551317341829,0.0186765557246,1.03967861608
+403,6.716666667,pose2_to_pose3_retreat,0.580744941221,0.0100017092034,1.04004087163,0.551316662629,0.0186765432373,1.03967865977
+404,6.733333333,pose2_to_pose3_retreat,0.580744845481,0.0100017073942,1.04004087809,0.551316566907,0.0186765414775,1.03967866593
+405,6.750000000,pose2_to_pose3_retreat,0.580744746224,0.0100017082694,1.04004087688,0.551316467606,0.0186765422355,1.03967866548
+406,6.766666667,pose2_to_pose3_retreat,0.580744726658,0.0100017088173,1.04004087557,0.551316448024,0.0186765427373,1.03967866446
+407,6.783333333,pose2_to_pose3_retreat,0.580744654326,0.0100017108425,1.0400408707,0.551316375628,0.0186765445923,1.03967866068
+408,6.800000000,pose2_to_pose3_retreat,0.580744500519,0.0100017151491,1.04004086037,0.551316221686,0.0186765485369,1.03967865266
+409,6.816666667,pose2_to_pose3_retreat,0.580744356279,0.0100017191877,1.04004085067,0.551316077318,0.0186765522361,1.03967864514
+410,6.833333333,pose2_to_pose3_retreat,0.580744293572,0.0100017209435,1.04004084646,0.551316014557,0.0186765538442,1.03967864187
+411,6.850000000,pose2_to_pose3_retreat,0.580744227323,0.0100017227984,1.04004084201,0.551315948249,0.0186765555433,1.03967863841
+412,6.866666667,pose2_to_pose3_retreat,0.580744145542,0.0100017250882,1.04004083651,0.551315866396,0.0186765576406,1.03967863414
+413,6.883333333,pose2_to_pose3_retreat,0.580744107245,0.0100017261605,1.04004083393,0.551315828066,0.0186765586228,1.03967863215
+414,6.900000000,pose2_to_pose3_retreat,0.58074409427,0.0100017265238,1.04004083306,0.551315815079,0.0186765589556,1.03967863147
+415,6.916666667,pose2_to_pose3_retreat,0.580744060177,0.0100017274784,1.04004083077,0.551315780956,0.0186765598299,1.03967862969
+416,6.933333333,pose2_to_pose3_retreat,0.580743951833,0.010001730512,1.04004082349,0.551315672517,0.0186765626085,1.03967862404
+417,6.950000000,pose2_to_pose3_retreat,0.580743892152,0.010001732183,1.04004081948,0.551315612783,0.0186765641391,1.03967862093
+418,6.966666667,pose2_to_pose3_retreat,0.580743796264,0.0100017813449,1.04004078606,0.551315516646,0.018676612417,1.03967858654
+419,6.983333333,pose2_to_pose3_retreat,0.580743714528,0.010001828611,1.04004075445,0.55131543468,0.0186766588537,1.03967855385
+420,7.000000000,pose2_to_pose3_retreat,0.58074367359,0.0100018522842,1.04004073863,0.551315393627,0.0186766821116,1.03967853747
+421,7.016666667,pose2_to_pose3_retreat,0.580743604537,0.0100019064755,1.04004072186,0.551315324112,0.0186767346355,1.03967851826
+422,7.033333333,pose2_to_pose3_retreat,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766

Part2/Obstacle_avoidance/ball_0030_15/position_10/depth_03/fem_node.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:92d0f35b160ef9796c64f13c26be5aa12e4e6a4d40b280e33b2da56ab1d64e17
+size 25822664

Part2/Obstacle_avoidance/ball_0030_15/position_10/depth_03/simulation_data.csv

@@ -0,0 +1,408 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+1,0.016666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+2,0.033333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+3,0.050000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+4,0.066666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+5,0.083333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+6,0.100000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+7,0.116666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+8,0.133333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+9,0.150000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+10,0.166666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+11,0.183333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+12,0.200000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+13,0.216666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+14,0.233333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+15,0.250000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+16,0.266666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+17,0.283333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+18,0.300000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+19,0.316666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+20,0.333333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+21,0.350000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+22,0.366666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+23,0.383333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+24,0.400000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+25,0.416666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+26,0.433333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+27,0.450000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+28,0.466666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+29,0.483333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+30,0.500000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+31,0.516666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+32,0.533333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+33,0.550000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+34,0.566666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+35,0.583333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+36,0.600000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+37,0.616666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+38,0.633333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+39,0.650000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+40,0.666666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+41,0.683333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+42,0.700000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+43,0.716666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+44,0.733333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+45,0.750000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+46,0.766666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+47,0.783333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+48,0.800000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+49,0.816666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+50,0.833333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+51,0.850000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+52,0.866666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+53,0.883333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+54,0.900000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+55,0.916666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+56,0.933333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+57,0.950000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+58,0.966666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+59,0.983333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+60,1.000000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+61,1.016666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+62,1.033333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+63,1.050000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+64,1.066666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+65,1.083333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+66,1.100000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+67,1.116666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+68,1.133333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+69,1.150000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+70,1.166666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+71,1.183333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+72,1.200000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+73,1.216666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+74,1.233333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+75,1.250000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+76,1.266666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+77,1.283333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+78,1.300000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+79,1.316666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+80,1.333333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+81,1.350000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+82,1.366666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+83,1.383333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+84,1.400000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+85,1.416666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+86,1.433333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+87,1.450000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+88,1.466666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+89,1.483333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+90,1.500000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+91,1.516666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+92,1.533333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+93,1.550000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+94,1.566666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+95,1.583333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+96,1.600000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+97,1.616666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+98,1.633333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+99,1.650000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+100,1.666666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+101,1.683333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+102,1.700000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+103,1.716666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+104,1.733333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+105,1.750000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+106,1.766666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+107,1.783333333,pose1_to_pose2_press,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+108,1.800000000,pose1_to_pose2_press,0.580743761576,0.0100018727627,1.04004087178,0.551315481411,0.0186767017606,1.03967866707
+109,1.816666667,pose1_to_pose2_press,0.580744050014,0.0100017659884,1.04004093925,0.551315770923,0.0186765987462,1.0396787374
+110,1.833333333,pose1_to_pose2_press,0.580744313106,0.0100017685525,1.04004093645,0.551316033891,0.0186766008181,1.03967873294
+111,1.850000000,pose1_to_pose2_press,0.580744413798,0.0100017761787,1.0400409311,0.551316134461,0.0186766079952,1.03967872667
+112,1.866666667,pose1_to_pose2_press,0.580744847654,0.010001809038,1.04004090805,0.551316567795,0.0186766389195,1.03967869966
+113,1.883333333,pose1_to_pose2_press,0.580745210119,0.0100018364904,1.0400408888,0.551316929825,0.0186766647553,1.0396786771
+114,1.900000000,pose1_to_pose2_press,0.580746262896,0.0100018725666,1.04004090508,0.551317982553,0.0186767007993,1.03967869659
+115,1.916666667,pose1_to_pose2_press,0.580749360732,0.0100019229681,1.04004100436,0.551321080637,0.0186767522483,1.03967880078
+116,1.933333333,pose1_to_pose2_press,0.580757092203,0.0100018881768,1.04004088292,0.551328812105,0.0186767172523,1.03967867479
+117,1.950000000,pose1_to_pose2_press,0.580770790137,0.0100016082309,1.04004092083,0.551342512719,0.0186764468152,1.03967872245
+118,1.966666667,pose1_to_pose2_press,0.580795407379,0.0100017299275,1.04004095968,0.551367128208,0.0186765623353,1.03967875574
+119,1.983333333,pose1_to_pose2_press,0.580830602502,0.0100019395219,1.04004103403,0.551402321829,0.0186767670421,1.03967883506
+120,2.000000000,pose1_to_pose2_press,0.580876096519,0.0100017853518,1.04004095331,0.551447817655,0.0186766188293,1.0396787499
+121,2.016666667,pose1_to_pose2_press,0.58093045654,0.0100017883104,1.04004075417,0.551502176029,0.018676616117,1.03967854877
+122,2.033333333,pose1_to_pose2_press,0.580992832368,0.0100018063598,1.04004084423,0.551564552703,0.0186766374122,1.03967864778
+123,2.050000000,pose1_to_pose2_press,0.581061166758,0.0100017858549,1.04004102908,0.551632886771,0.0186766153818,1.03967882219
+124,2.066666667,pose1_to_pose2_press,0.58113534426,0.0100017980594,1.04004116866,0.551707063751,0.0186766256706,1.03967895823
+125,2.083333333,pose1_to_pose2_press,0.581217698586,0.0100018723654,1.04004086001,0.551789417103,0.0186766967713,1.03967865189
+126,2.100000000,pose1_to_pose2_press,0.581310412471,0.0100018814038,1.04004084747,0.551882131609,0.0186767080668,1.03967864287
+127,2.116666667,pose1_to_pose2_press,0.581418191302,0.0100018246031,1.04004091289,0.551989912741,0.0186766592886,1.03967871357
+128,2.133333333,pose1_to_pose2_press,0.581540395933,0.0100018253214,1.04004063249,0.552112116227,0.0186766560713,1.03967843191
+129,2.150000000,pose1_to_pose2_press,0.581677199952,0.0100018986471,1.04004060217,0.552248918596,0.0186767237708,1.03967840086
+130,2.166666667,pose1_to_pose2_press,0.581830232736,0.0100019001062,1.0400407719,0.552401951457,0.0186767254192,1.0396785687
+131,2.183333333,pose1_to_pose2_press,0.581998937465,0.0100018252988,1.04004090163,0.552570657455,0.0186766547567,1.03967869453
+132,2.200000000,pose1_to_pose2_press,0.582185379111,0.0100018136837,1.04004091453,0.552757099367,0.0186766440731,1.03967870821
+133,2.216666667,pose1_to_pose2_press,0.582391592646,0.0100018329949,1.04004071636,0.552963311435,0.0186766585975,1.03967851447
+134,2.233333333,pose1_to_pose2_press,0.582620767963,0.0100017478007,1.04004083971,0.553192487772,0.0186765764325,1.03967862745
+135,2.250000000,pose1_to_pose2_press,0.582873814546,0.0100018121721,1.04004133899,0.553445534033,0.0186766393524,1.03967911811
+136,2.266666667,pose1_to_pose2_press,0.583151038743,0.0100018980834,1.04004073333,0.553722756882,0.0186767213444,1.03967852802
+137,2.283333333,pose1_to_pose2_press,0.583447782524,0.0100019594883,1.04004083936,0.55401950099,0.0186767839732,1.03967863672
+138,2.300000000,pose1_to_pose2_press,0.583762151365,0.0100018232931,1.04004087236,0.554333870044,0.0186766481745,1.03967866187
+139,2.316666667,pose1_to_pose2_press,0.584093678634,0.0100018918162,1.04004093663,0.554665397794,0.0186767187593,1.03967873641
+140,2.333333333,pose1_to_pose2_press,0.584437737879,0.0100018305891,1.04004087739,0.555009457758,0.0186766597907,1.03967867278
+141,2.350000000,pose1_to_pose2_press,0.584793150487,0.0100018328871,1.04004076575,0.555364870598,0.0186766629326,1.03967856245
+142,2.366666667,pose1_to_pose2_press,0.58516642756,0.0100018145209,1.04004077323,0.555738147791,0.0186766451588,1.03967857443
+143,2.383333333,pose1_to_pose2_press,0.585559153544,0.010001735868,1.04004083156,0.556130874413,0.0186765685736,1.03967863034
+144,2.400000000,pose1_to_pose2_press,0.585979309266,0.0100016857184,1.04004088468,0.556551030864,0.0186765207576,1.03967868007
+145,2.416666667,pose1_to_pose2_press,0.586428211528,0.0100017775878,1.04004094147,0.556999932233,0.0186766097752,1.03967874104
+146,2.433333333,pose1_to_pose2_press,0.586911005666,0.010001917687,1.04004094404,0.557482724081,0.0186767420852,1.03967874308
+147,2.450000000,pose1_to_pose2_press,0.587418525662,0.0100018664312,1.04004091358,0.557990245453,0.0186766956095,1.03967871531
+148,2.466666667,pose1_to_pose2_press,0.58794802065,0.0100017829628,1.04004083367,0.558519741626,0.0186766159729,1.03967863084
+149,2.483333333,pose1_to_pose2_press,0.588486956986,0.0100018413122,1.04004087865,0.559058675067,0.0186766640327,1.03967866453
+150,2.500000000,pose1_to_pose2_press,0.589034903272,0.0100019646512,1.04004087667,0.559606622123,0.0186767901667,1.03967866691
+151,2.516666667,pose1_to_pose2_press,0.58959552122,0.0100017385518,1.04004081479,0.560167242092,0.0186765714742,1.03967861822
+152,2.533333333,pose1_to_pose2_press,0.590176732864,0.0100017571915,1.04004086095,0.560748453701,0.0186765895292,1.03967865321
+153,2.550000000,pose1_to_pose2_press,0.590786565751,0.0100018890055,1.04004085093,0.561358284183,0.0186767132523,1.03967864477
+154,2.566666667,pose1_to_pose2_press,0.591421912503,0.0100019505874,1.04004083669,0.56199363062,0.0186767739248,1.03967863431
+155,2.583333333,pose1_to_pose2_press,0.592078607219,0.0100019412047,1.0400408602,0.562650325906,0.0186767662801,1.03967865305
+156,2.600000000,pose1_to_pose2_press,0.592748878737,0.0100018838937,1.0400409025,0.563320598584,0.0186767130294,1.03967869843
+157,2.616666667,pose1_to_pose2_press,0.593428503326,0.0100018461217,1.04004093976,0.564000224222,0.0186766790427,1.03967874111
+158,2.633333333,pose1_to_pose2_press,0.594117234164,0.0100018289994,1.04004092792,0.564688954449,0.0186766595618,1.03967872246
+159,2.650000000,pose1_to_pose2_press,0.594821211047,0.0100017788864,1.04004086707,0.565392930305,0.0186766059897,1.03967866217
+160,2.666666667,pose1_to_pose2_press,0.595542932307,0.0100019069519,1.04004087289,0.566114649847,0.0186767287842,1.03967868134
+161,2.683333333,pose1_to_pose2_press,0.596276327188,0.0100018267447,1.04004070776,0.5668480457,0.018676651556,1.0396785086
+162,2.700000000,pose1_to_pose2_press,0.597019977909,0.0100018678318,1.0400406925,0.567591697017,0.0186766947934,1.03967849637
+163,2.716666667,pose1_to_pose2_press,0.59778166986,0.01000179909,1.04004082943,0.568353390719,0.0186766316386,1.03967862481
+164,2.733333333,pose1_to_pose2_press,0.598556250458,0.0100019176846,1.04004093733,0.569127970793,0.0186767486193,1.03967873665
+165,2.750000000,pose1_to_pose2_press,0.599338187838,0.0100019514573,1.04004090401,0.569909906215,0.0186767753323,1.03967869337
+166,2.766666667,pose1_to_pose2_press,0.600127301234,0.0100018453219,1.04004095863,0.570699020853,0.0186766733755,1.03967874723
+167,2.783333333,pose1_to_pose2_press,0.600919575196,0.0100017877302,1.04004107052,0.571491295886,0.0186766195035,1.03967886122
+168,2.800000000,pose1_to_pose2_press,0.601710988001,0.0100017406528,1.04004087978,0.572282709229,0.0186765745126,1.03967867673
+169,2.816666667,pose1_to_pose2_press,0.602503363102,0.0100018455018,1.04004070375,0.573075082791,0.0186766742522,1.03967850342
+170,2.833333333,pose1_to_pose2_press,0.603292620234,0.0100018793011,1.04004073228,0.573864339754,0.0186767072054,1.0396785254
+171,2.850000000,pose1_to_pose2_press,0.604084201461,0.0100017909592,1.04004079698,0.574655922296,0.0186766230254,1.03967858295
+172,2.866666667,pose1_to_pose2_press,0.604881374112,0.0100019389925,1.04004089873,0.575453092413,0.0186767625427,1.03967868668
+173,2.883333333,pose1_to_pose2_press,0.605674888986,0.0100018128219,1.04004096484,0.576246609313,0.0186766434704,1.03967875824
+174,2.900000000,pose1_to_pose2_press,0.606466987405,0.0100019033646,1.04004083321,0.577038706816,0.0186767310847,1.03967863097
+175,2.916666667,pose1_to_pose2_press,0.607259571212,0.0100019748653,1.0400407374,0.577831289468,0.0186767984818,1.03967853075
+176,2.933333333,pose1_to_pose2_press,0.608052380425,0.0100019340255,1.04004071118,0.578624098954,0.0186767587563,1.03967850909
+177,2.950000000,pose1_to_pose2_press,0.608846730501,0.0100018346428,1.04004071247,0.57941845018,0.0186766631894,1.03967850842
+178,2.966666667,pose1_to_pose2_press,0.609635165244,0.0100018840472,1.04004070644,0.580206886062,0.018676716585,1.03967850545
+179,2.983333333,pose1_to_pose2_press,0.610415045513,0.0100018945087,1.04004083605,0.580986765352,0.0186767240751,1.03967864357
+180,3.000000000,pose1_to_pose2_press,0.611176600257,0.0100019037483,1.04004086249,0.581748319196,0.0186767299967,1.03967866369
+181,3.016666667,pose1_to_pose2_press,0.611921327015,0.0100017989926,1.0400409225,0.582493047351,0.0186766296129,1.03967871491
+182,3.033333333,pose1_to_pose2_press,0.612665283587,0.0100017144626,1.0400409267,0.583237004973,0.0186765486123,1.03967871847
+183,3.050000000,pose1_to_pose2_press,0.613402685823,0.0100017785499,1.04004083679,0.583974406383,0.0186766101035,1.03967863361
+184,3.066666667,pose1_to_pose2_press,0.614125236813,0.0100018560559,1.04004083388,0.584696956431,0.018676684488,1.03967863243
+185,3.083333333,pose1_to_pose2_press,0.614843347165,0.0100018637143,1.04004085968,0.585415065755,0.0186766883535,1.03967865109
+186,3.100000000,pose1_to_pose2_press,0.615551771931,0.010001828927,1.04004087057,0.586123490512,0.018676653395,1.03967865867
+187,3.116666667,pose1_to_pose2_press,0.616230645212,0.010001798309,1.04004088622,0.586802365807,0.0186766295711,1.03967867338
+188,3.133333333,pose1_to_pose2_press,0.616889902822,0.010001888224,1.04004085895,0.587461622976,0.0186767181896,1.03967865105
+189,3.150000000,pose1_to_pose2_press,0.61754052773,0.0100019762013,1.04004087718,0.588112245494,0.018676797894,1.0396786654
+190,3.166666667,pose1_to_pose2_press,0.618174548454,0.0100017742064,1.04004088135,0.588746267775,0.0186766010896,1.03967866754
+191,3.183333333,pose1_to_pose2_press,0.618784195645,0.010001890527,1.04004085656,0.589355915445,0.018676719438,1.0396786524
+192,3.200000000,pose1_to_pose2_press,0.619370844685,0.0100018525591,1.04004095249,0.589942563073,0.0186766765098,1.03967874465
+193,3.216666667,pose1_to_pose2_press,0.619935525284,0.0100017135206,1.04004081489,0.590507246453,0.0186765469346,1.03967860762
+194,3.233333333,pose1_to_pose2_press,0.620481904968,0.0100017998381,1.04004078277,0.591053625941,0.0186766327859,1.03967858076
+195,3.250000000,pose1_to_pose2_press,0.621017438003,0.0100019678609,1.04004078077,0.591589156428,0.018676792192,1.03967857871
+196,3.266666667,pose1_to_pose2_press,0.621542845125,0.0100019163724,1.04004078843,0.592114563886,0.018676741807,1.03967858362
+197,3.283333333,pose1_to_pose2_press,0.622046366066,0.0100018294066,1.04004080521,0.592618085367,0.018676656644,1.03967859832
+198,3.300000000,pose1_to_pose2_press,0.622522261837,0.0100018347367,1.04004073253,0.593093980592,0.0186766601997,1.03967852656
+199,3.316666667,pose1_to_pose2_press,0.622962594092,0.0100017113174,1.04004071232,0.593534315468,0.0186765459022,1.0396785113
+200,3.333333333,pose1_to_pose2_press,0.623373605639,0.010001702704,1.04004075814,0.593945327931,0.0186765401584,1.03967855119
+201,3.350000000,pose1_to_pose2_press,0.62376470441,0.010001984753,1.04004083686,0.59433642378,0.0186768124585,1.03967863381
+202,3.366666667,pose1_to_pose2_press,0.624143717748,0.0100017434552,1.04004086414,0.594715440062,0.0186765809162,1.03967865579
+203,3.383333333,pose1_to_pose2_press,0.624512768348,0.0100018893655,1.0400409402,0.595084488129,0.0186767185348,1.03967873944
+204,3.400000000,pose1_to_pose2_press,0.624864919294,0.0100019011954,1.04004085909,0.595436638544,0.0186767284291,1.03967865501
+205,3.416666667,pose1_to_pose2_press,0.625196894296,0.0100018160505,1.04004097344,0.595768614122,0.0186766449055,1.03967876157
+206,3.433333333,pose1_to_pose2_press,0.625499214273,0.0100017368877,1.04004089582,0.596070935176,0.0186765695689,1.03967868796
+207,3.450000000,pose1_to_pose2_press,0.625773173846,0.0100018193989,1.04004075436,0.596344893789,0.0186766491049,1.03967855336
+208,3.466666667,pose1_to_pose2_press,0.626018203643,0.0100019390257,1.04004080334,0.596589922727,0.0186767655708,1.03967859654
+209,3.483333333,pose1_to_pose2_press,0.626243221382,0.0100020062538,1.04004092468,0.596814939627,0.018676829784,1.03967871357
+210,3.500000000,pose1_to_pose2_press,0.626450468737,0.0100020093285,1.04004097155,0.597022186267,0.0186768306902,1.03967876565
+211,3.516666667,pose1_to_pose2_press,0.626645033881,0.0100019488628,1.04004097537,0.597216752617,0.0186767743966,1.03967877025
+212,3.533333333,pose1_to_pose2_press,0.626827439427,0.0100017407734,1.04004100603,0.59739916037,0.0186765734935,1.03967879305
+213,3.550000000,pose1_to_pose2_press,0.62699723776,0.0100018980737,1.04004097949,0.597568957107,0.0186767255513,1.03967877131
+214,3.566666667,pose1_to_pose2_press,0.627153809501,0.0100019798173,1.04004092634,0.597725529701,0.0186768107707,1.03967873284
+215,3.583333333,pose1_to_pose2_press,0.627295239601,0.0100017929112,1.04004093789,0.597866960592,0.0186766263342,1.03967873915
+216,3.600000000,pose1_to_pose2_press,0.627422139793,0.0100017850843,1.04004096494,0.597993858715,0.0186766111983,1.03967875992
+217,3.616666667,pose1_to_pose2_press,0.627534620902,0.0100017902928,1.04004098499,0.598106340437,0.0186766183146,1.03967877623
+218,3.633333333,pose1_to_pose2_press,0.627631430537,0.010001861081,1.04004099122,0.598203149978,0.0186766887899,1.03967878072
+219,3.650000000,pose1_to_pose2_press,0.627714523016,0.0100018732388,1.04004085063,0.598286242385,0.0186767008497,1.03967864243
+220,3.666666667,pose1_to_pose2_press,0.627785538843,0.0100018016143,1.04004066307,0.598357259149,0.0186766326412,1.03967846008
+221,3.683333333,pose1_to_pose2_press,0.627846178959,0.0100017650427,1.04004071637,0.598417899763,0.0186765978384,1.0396785147
+222,3.700000000,pose1_to_pose2_press,0.627896151853,0.0100018215173,1.0400409979,0.598467871976,0.0186766518467,1.03967879252
+223,3.716666667,pose1_to_pose2_press,0.627938983067,0.0100019219452,1.04004108398,0.598510702297,0.01867674928,1.03967888058
+224,3.733333333,pose1_to_pose2_press,0.627975028609,0.0100019719572,1.04004105516,0.598546745972,0.0186767928425,1.0396788539
+225,3.750000000,pose1_to_pose2_press,0.628003669571,0.0100018974152,1.04004095393,0.598575388999,0.0186767255218,1.0396787523
+226,3.766666667,pose1_to_pose2_press,0.628025968898,0.010001926316,1.04004065804,0.598597688074,0.0186767544267,1.03967847676
+227,3.783333333,pose1_to_pose2_press,0.628042793664,0.0100019132609,1.04004088918,0.598614513553,0.0186767429946,1.0396786888
+228,3.800000000,pose1_to_pose2_press,0.628055028426,0.0100017429572,1.04004078127,0.59862675046,0.0186765801296,1.03967858472
+229,3.816666667,pose1_to_pose2_press,0.628063180338,0.0100017052342,1.04004082993,0.598634903046,0.0186765446276,1.03967863179
+230,3.833333333,pose1_to_pose2_press,0.628068882331,0.0100018156623,1.04004111767,0.598640604137,0.0186766513897,1.03967890529
+231,3.850000000,pose1_to_pose2_press,0.628072315786,0.0100017889414,1.04004084631,0.598644036027,0.0186766197004,1.03967864214
+232,3.866666667,pose1_to_pose2_press,0.628074558803,0.0100017862259,1.04004070985,0.598646278076,0.0186766138664,1.03967850967
+233,3.883333333,pose1_to_pose2_press,0.628076143693,0.0100018453342,1.04004078238,0.598647862511,0.018676671298,1.03967857936
+234,3.900000000,pose1_to_pose2_press,0.628077416497,0.0100018928033,1.04004084062,0.59864913495,0.0186767174205,1.03967863532
+235,3.916666667,pose1_to_pose2_press,0.628078444306,0.0100018817537,1.040040998,0.598650163602,0.0186767090352,1.039678788
+236,3.933333333,pose1_to_pose2_press,0.628079310843,0.0100018640211,1.04004111601,0.598651030965,0.018676693967,1.03967890274
+237,3.950000000,pose1_to_pose2_press,0.628079808479,0.0100018369966,1.04004100698,0.598651528958,0.0186766683349,1.03967879829
+238,3.966666667,pose1_to_pose2_press,0.62808006046,0.0100018434663,1.04004110282,0.598651780211,0.018676672534,1.03967889887
+239,3.983333333,pose1_to_pose2_press,0.628080146398,0.0100018514573,1.04004117886,0.598651865641,0.0186766788965,1.03967897722
+240,4.000000000,pose1_to_pose2_press,0.628080163523,0.0100018793077,1.04004112535,0.598651882536,0.0186767060118,1.03967892491
+241,4.016666667,pose1_to_pose2_press,0.628080163635,0.0100019110497,1.04004104247,0.598651882492,0.0186767372555,1.03967884293
+242,4.033333333,pose1_to_pose2_press,0.62808016368,0.0100019238529,1.04004100905,0.598651882474,0.0186767498577,1.03967880987
+243,4.050000000,pose1_to_pose2_press,0.62808016377,0.0100019495627,1.04004094192,0.598651882438,0.018676775165,1.03967874347
+244,4.066666667,pose1_to_pose2_press,0.62808016377,0.0100019495627,1.04004094192,0.598651882438,0.0186767751652,1.03967874347
+245,4.083333333,pose2_hold,0.62808016377,0.0100019495627,1.04004094192,0.598651882463,0.0186767751613,1.03967874347
+246,4.100000000,pose2_hold,0.62808016377,0.0100019495627,1.04004094192,0.598651882465,0.0186767751616,1.03967874347
+247,4.116666667,pose2_hold,0.62808016377,0.0100019495627,1.04004094192,0.598651882465,0.0186767751611,1.03967874347
+248,4.133333333,pose2_hold,0.62808016377,0.0100019495627,1.04004094192,0.598651882467,0.0186767751594,1.03967874347
+249,4.150000000,pose2_hold,0.62808016377,0.0100019495627,1.04004094192,0.598651882467,0.0186767751604,1.03967874347
+250,4.166666667,pose2_hold,0.62808016377,0.0100019495627,1.04004094192,0.598651882468,0.0186767751575,1.03967874347
+251,4.183333333,pose2_hold,0.62808016377,0.0100019495627,1.04004094192,0.598651882468,0.0186767751574,1.03967874347
+252,4.200000000,pose2_hold,0.62808016377,0.0100019495627,1.04004094192,0.598651882468,0.018676775159,1.03967874347
+253,4.216666667,pose2_hold,0.62808016377,0.0100019495627,1.04004094192,0.598651882469,0.0186767751589,1.03967874347
+254,4.233333333,pose2_hold,0.62808016377,0.0100019495627,1.04004094192,0.59865188247,0.018676775158,1.03967874347
+255,4.250000000,pose2_hold,0.62808016377,0.0100019495627,1.04004094192,0.59865188247,0.0186767751579,1.03967874347
+256,4.266666667,pose2_hold,0.62808016377,0.0100019495627,1.04004094192,0.598651882471,0.0186767751582,1.03967874347
+257,4.283333333,pose2_hold,0.62808016377,0.0100019495627,1.04004094192,0.598651882471,0.0186767751582,1.03967874347
+258,4.300000000,pose2_hold,0.62808016377,0.0100019495627,1.04004094192,0.598651882472,0.0186767751577,1.03967874347
+259,4.316666667,pose2_hold,0.62808016377,0.0100019495627,1.04004094192,0.598651882471,0.0186767751584,1.03967874347
+260,4.333333333,pose2_hold,0.62808016377,0.0100019495627,1.04004094192,0.598651882472,0.0186767751581,1.03967874347
+261,4.350000000,pose2_hold,0.62808016377,0.0100019495627,1.04004094192,0.598651882472,0.0186767751584,1.03967874347
+262,4.366666667,pose2_hold,0.62808016377,0.0100019495627,1.04004094192,0.598651882472,0.0186767751583,1.03967874347
+263,4.383333333,pose2_to_pose3_retreat,0.62808016377,0.0100019495627,1.04004094192,0.598651882474,0.0186767751577,1.03967874347
+264,4.400000000,pose2_to_pose3_retreat,0.628080065682,0.0100017963886,1.0400408635,0.598651785459,0.0186766251504,1.03967865376
+265,4.416666667,pose2_to_pose3_retreat,0.628079818977,0.0100018077544,1.04004082523,0.598651538856,0.0186766372416,1.03967862419
+266,4.433333333,pose2_to_pose3_retreat,0.62807975689,0.0100018115405,1.04004081859,0.598651476763,0.0186766410748,1.03967861908
+267,4.450000000,pose2_to_pose3_retreat,0.628079632612,0.0100018237968,1.04004082046,0.598651352316,0.0186766527415,1.03967862059
+268,4.466666667,pose2_to_pose3_retreat,0.628079339314,0.0100018527218,1.04004082487,0.598651058618,0.018676680275,1.03967862416
+269,4.483333333,pose2_to_pose3_retreat,0.628078504576,0.0100019249444,1.0400408292,0.598650222841,0.0186767488808,1.03967862629
+270,4.500000000,pose2_to_pose3_retreat,0.628076426982,0.0100019799264,1.04004073839,0.598648143888,0.0186767991058,1.0396785325
+271,4.516666667,pose2_to_pose3_retreat,0.628071566201,0.0100017941281,1.04004081832,0.59864328742,0.0186766282509,1.03967861995
+272,4.533333333,pose2_to_pose3_retreat,0.628060187208,0.0100019390342,1.04004088739,0.598631906241,0.0186767654397,1.03967868205
+273,4.550000000,pose2_to_pose3_retreat,0.628040151057,0.0100018258856,1.04004084748,0.598611872138,0.0186766596219,1.03967865127
+274,4.566666667,pose2_to_pose3_retreat,0.628008993175,0.0100018735791,1.04004080064,0.598580711571,0.0186766982769,1.03967860577
+275,4.583333333,pose2_to_pose3_retreat,0.627966808447,0.0100019439094,1.04004082585,0.59853852587,0.0186767650122,1.03967862561
+276,4.600000000,pose2_to_pose3_retreat,0.627914978765,0.0100019263763,1.04004078837,0.598486696074,0.0186767468929,1.03967858391
+277,4.616666667,pose2_to_pose3_retreat,0.627855773637,0.0100018799237,1.04004082461,0.598427492498,0.0186767060786,1.03967862801
+278,4.633333333,pose2_to_pose3_retreat,0.627790307258,0.0100020098176,1.04004088955,0.598362024148,0.0186768290741,1.03967868863
+279,4.650000000,pose2_to_pose3_retreat,0.627718666008,0.0100020175187,1.04004085828,0.598290382433,0.0186768348757,1.03967865168
+280,4.666666667,pose2_to_pose3_retreat,0.627639909962,0.0100017698881,1.04004077794,0.598211630201,0.0186766003835,1.03967857617
+281,4.683333333,pose2_to_pose3_retreat,0.627549805899,0.0100016919532,1.04004061358,0.598121526294,0.0186765229611,1.03967841042
+282,4.700000000,pose2_to_pose3_retreat,0.627447097252,0.0100018601626,1.04004082676,0.598018816701,0.0186766877752,1.03967861968
+283,4.716666667,pose2_to_pose3_retreat,0.627328159057,0.0100017752118,1.04004090698,0.597899879421,0.018676606261,1.03967870801
+284,4.733333333,pose2_to_pose3_retreat,0.627193325017,0.0100018462761,1.04004094653,0.597765045521,0.018676677758,1.03967874665
+285,4.750000000,pose2_to_pose3_retreat,0.62704163234,0.0100018362074,1.04004087414,0.597613351821,0.0186766643592,1.03967867755
+286,4.766666667,pose2_to_pose3_retreat,0.626871483849,0.0100018362079,1.04004074973,0.597443202478,0.0186766616176,1.03967855676
+287,4.783333333,pose2_to_pose3_retreat,0.626683130554,0.0100019029105,1.04004074938,0.597254849806,0.0186767300803,1.03967854805
+288,4.800000000,pose2_to_pose3_retreat,0.626477159369,0.0100018307631,1.04004091248,0.59704887981,0.0186766614747,1.03967869927
+289,4.816666667,pose2_to_pose3_retreat,0.62625505831,0.0100019714665,1.04004096415,0.596826777919,0.0186767997516,1.03967876036
+290,4.833333333,pose2_to_pose3_retreat,0.626017866106,0.0100018354991,1.04004095304,0.596589586137,0.018676665303,1.03967875176
+291,4.850000000,pose2_to_pose3_retreat,0.625765853525,0.0100018440199,1.04004107763,0.596337573685,0.0186766739735,1.03967886918
+292,4.866666667,pose2_to_pose3_retreat,0.625498430244,0.0100017908461,1.04004095352,0.596070151432,0.0186766243168,1.03967874601
+293,4.883333333,pose2_to_pose3_retreat,0.625209473183,0.0100017971488,1.04004085936,0.595781193143,0.0186766264432,1.03967865127
+294,4.900000000,pose2_to_pose3_retreat,0.624896857965,0.0100018002542,1.04004090495,0.59546857742,0.0186766277655,1.03967869501
+295,4.916666667,pose2_to_pose3_retreat,0.624552964053,0.0100017013787,1.04004098241,0.595124686334,0.0186765385459,1.03967877477
+296,4.933333333,pose2_to_pose3_retreat,0.624180828638,0.0100017136641,1.04004096934,0.594752548612,0.0186765429925,1.03967876134
+297,4.950000000,pose2_to_pose3_retreat,0.623779586062,0.0100018028127,1.04004086715,0.594351305902,0.0186766315721,1.03967865669
+298,4.966666667,pose2_to_pose3_retreat,0.623355779003,0.0100018631413,1.04004066574,0.593927499765,0.0186766958723,1.03967847558
+299,4.983333333,pose2_to_pose3_retreat,0.622910268969,0.010001840341,1.04004087083,0.593481988413,0.0186766676554,1.03967865823
+300,5.000000000,pose2_to_pose3_retreat,0.622443698202,0.010001810066,1.04004074213,0.593015418354,0.0186766402006,1.03967853958
+301,5.016666667,pose2_to_pose3_retreat,0.621958120506,0.010001821392,1.04004092151,0.592529840639,0.0186766517725,1.03967872662
+302,5.033333333,pose2_to_pose3_retreat,0.621454044667,0.0100017835462,1.04004099568,0.592025765987,0.0186766177018,1.03967879457
+303,5.050000000,pose2_to_pose3_retreat,0.620926992836,0.0100018056382,1.04004090236,0.591498714109,0.0186766395598,1.03967869931
+304,5.066666667,pose2_to_pose3_retreat,0.620374848936,0.0100018915545,1.04004079,0.590946568409,0.018676719442,1.03967858856
+305,5.083333333,pose2_to_pose3_retreat,0.61979761736,0.0100019430705,1.04004086249,0.590369335624,0.0186767667602,1.03967865872
+306,5.100000000,pose2_to_pose3_retreat,0.619196546062,0.0100019487806,1.0400411103,0.589768264131,0.0186767719184,1.0396789094
+307,5.116666667,pose2_to_pose3_retreat,0.618577267096,0.0100018431378,1.04004086765,0.589148985644,0.0186766675308,1.03967865817
+308,5.133333333,pose2_to_pose3_retreat,0.617944970568,0.0100017525214,1.04004087462,0.588516691824,0.0186765860169,1.03967866305
+309,5.150000000,pose2_to_pose3_retreat,0.617300354522,0.0100018175246,1.04004059692,0.587872075412,0.0186766503761,1.03967839999
+310,5.166666667,pose2_to_pose3_retreat,0.61663874374,0.0100018417511,1.04004079691,0.587210463687,0.0186766711622,1.0396785943
+311,5.183333333,pose2_to_pose3_retreat,0.615955769782,0.0100018860115,1.04004084914,0.586527488926,0.0186767125716,1.0396786441
+312,5.200000000,pose2_to_pose3_retreat,0.615246278694,0.0100019488854,1.04004072034,0.585817997052,0.0186767726782,1.03967851197
+313,5.216666667,pose2_to_pose3_retreat,0.614514501216,0.0100018733591,1.04004081024,0.58508622117,0.0186767026107,1.03967860366
+314,5.233333333,pose2_to_pose3_retreat,0.613767078705,0.0100017975953,1.04004086198,0.584338800379,0.0186766327522,1.03967865739
+315,5.250000000,pose2_to_pose3_retreat,0.613008442685,0.0100018106879,1.04004074228,0.583580163672,0.0186766434388,1.03967853382
+316,5.266666667,pose2_to_pose3_retreat,0.612235480591,0.01000177034,1.04004078764,0.582807200826,0.0186766004672,1.03967857675
+317,5.283333333,pose2_to_pose3_retreat,0.611459510825,0.0100017715735,1.04004083368,0.582031231455,0.0186766031798,1.03967862792
+318,5.300000000,pose2_to_pose3_retreat,0.61068039257,0.0100020195997,1.04004070047,0.581252110121,0.018676841026,1.03967850108
+319,5.316666667,pose2_to_pose3_retreat,0.609891967304,0.0100018584677,1.04004059806,0.580463685332,0.0186766814824,1.03967839787
+320,5.333333333,pose2_to_pose3_retreat,0.609097201469,0.0100019040041,1.04004078267,0.579668921059,0.018676732534,1.0396785845
+321,5.350000000,pose2_to_pose3_retreat,0.608294300799,0.0100018271515,1.04004065107,0.578866020649,0.0186766562843,1.03967844844
+322,5.366666667,pose2_to_pose3_retreat,0.607480602057,0.0100018363702,1.04004071786,0.578052321998,0.018676665418,1.03967850663
+323,5.383333333,pose2_to_pose3_retreat,0.60665820177,0.010001905297,1.04004072898,0.577229921649,0.0186767344362,1.03967852487
+324,5.400000000,pose2_to_pose3_retreat,0.605823075244,0.0100018240363,1.04004084724,0.576394795512,0.0186766544414,1.03967864172
+325,5.416666667,pose2_to_pose3_retreat,0.60498463795,0.0100018104666,1.04004089079,0.575556357033,0.0186766366442,1.03967868017
+326,5.433333333,pose2_to_pose3_retreat,0.604167252838,0.0100019340445,1.04004083961,0.574738971096,0.0186767575963,1.03967863314
+327,5.450000000,pose2_to_pose3_retreat,0.603359123551,0.010001816796,1.04004107355,0.573930845686,0.0186766532919,1.03967886206
+328,5.466666667,pose2_to_pose3_retreat,0.602550496821,0.010001730632,1.0400408568,0.573122218936,0.0186765673358,1.03967865197
+329,5.483333333,pose2_to_pose3_retreat,0.601746424138,0.0100019584762,1.04004085796,0.572318141853,0.0186767801446,1.0396786505
+330,5.500000000,pose2_to_pose3_retreat,0.600943274625,0.010001820905,1.0400409293,0.571514996338,0.0186766564795,1.03967872766
+331,5.516666667,pose2_to_pose3_retreat,0.60013207214,0.01000181648,1.04004104573,0.570703793586,0.0186766511961,1.03967884389
+332,5.533333333,pose2_to_pose3_retreat,0.599319259775,0.01000191622,1.04004100848,0.569890978399,0.0186767412707,1.03967880394
+333,5.550000000,pose2_to_pose3_retreat,0.59851420451,0.0100018495984,1.04004090941,0.569085923507,0.0186766757941,1.03967870195
+334,5.566666667,pose2_to_pose3_retreat,0.597716844983,0.0100017389785,1.04004092671,0.56828856619,0.0186765725486,1.03967871632
+335,5.583333333,pose2_to_pose3_retreat,0.59692589012,0.0100018040593,1.04004096643,0.567497610891,0.0186766364073,1.03967876215
+336,5.600000000,pose2_to_pose3_retreat,0.596154810973,0.0100019007301,1.04004090035,0.56672653008,0.018676727775,1.03967870418
+337,5.616666667,pose2_to_pose3_retreat,0.595404354567,0.0100017895818,1.04004088438,0.565976075395,0.0186766220431,1.03967867811
+338,5.633333333,pose2_to_pose3_retreat,0.594669658084,0.0100017242414,1.04004099737,0.565241380519,0.0186765620428,1.03967878846
+339,5.650000000,pose2_to_pose3_retreat,0.593952114134,0.0100018173015,1.04004093463,0.564523834922,0.0186766500272,1.03967873798
+340,5.666666667,pose2_to_pose3_retreat,0.593251513047,0.0100018375763,1.04004083658,0.563823231889,0.0186766636588,1.03967863891
+341,5.683333333,pose2_to_pose3_retreat,0.592558038159,0.0100018596864,1.04004080754,0.563129757423,0.0186766873176,1.03967861262
+342,5.700000000,pose2_to_pose3_retreat,0.591873255427,0.0100019147515,1.04004091145,0.562444974222,0.018676740524,1.03967871006
+343,5.716666667,pose2_to_pose3_retreat,0.591206360285,0.0100018115028,1.04004088742,0.561778080339,0.0186766414574,1.03967868388
+344,5.733333333,pose2_to_pose3_retreat,0.590559240203,0.0100017391696,1.0400406661,0.561130960425,0.0186765695636,1.03967846156
+345,5.750000000,pose2_to_pose3_retreat,0.589935844937,0.0100018442413,1.04004063194,0.560507564744,0.0186766731418,1.03967842734
+346,5.766666667,pose2_to_pose3_retreat,0.589333756987,0.0100019109688,1.04004083339,0.559905477677,0.0186767430385,1.03967863248
+347,5.783333333,pose2_to_pose3_retreat,0.588754934197,0.01000177832,1.04004080254,0.559326654552,0.01867660933,1.03967860345
+348,5.800000000,pose2_to_pose3_retreat,0.588197970656,0.0100018680867,1.04004073496,0.558769688976,0.0186766921488,1.03967853473
+349,5.816666667,pose2_to_pose3_retreat,0.587663251768,0.0100017913826,1.04004106681,0.558234972503,0.0186766235051,1.03967886343
+350,5.833333333,pose2_to_pose3_retreat,0.587151463984,0.0100017766437,1.04004101775,0.557723185625,0.0186766114895,1.03967880598
+351,5.850000000,pose2_to_pose3_retreat,0.586656479263,0.0100019189492,1.04004106938,0.557228198081,0.0186767444034,1.0396788619
+352,5.866666667,pose2_to_pose3_retreat,0.586174845191,0.0100017840981,1.04004091364,0.556746566239,0.0186766173006,1.03967871038
+353,5.883333333,pose2_to_pose3_retreat,0.585709995064,0.0100017584905,1.04004090148,0.556281716574,0.018676593411,1.03967870123
+354,5.900000000,pose2_to_pose3_retreat,0.585264928731,0.0100018076936,1.04004082034,0.555836648732,0.018676637462,1.0396786193
+355,5.916666667,pose2_to_pose3_retreat,0.584848706004,0.0100019349117,1.04004080435,0.555420424699,0.0186767604236,1.03967860785
+356,5.933333333,pose2_to_pose3_retreat,0.584462520905,0.0100019551986,1.04004089595,0.555034239803,0.0186767813336,1.03967869796
+357,5.950000000,pose2_to_pose3_retreat,0.584110389681,0.0100018043786,1.04004090165,0.554682109328,0.0186766325347,1.03967869124
+358,5.966666667,pose2_to_pose3_retreat,0.583784785521,0.0100018899051,1.0400409669,0.554356503378,0.0186767121842,1.03967876147
+359,5.983333333,pose2_to_pose3_retreat,0.583482915916,0.0100017648498,1.04004095304,0.55405463508,0.018676591694,1.03967875038
+360,6.000000000,pose2_to_pose3_retreat,0.583194297628,0.0100018356169,1.04004073518,0.553766017418,0.0186766647778,1.03967853723
+361,6.016666667,pose2_to_pose3_retreat,0.582917333211,0.0100017683178,1.04004092444,0.553489054525,0.0186766022335,1.03967871692
+362,6.033333333,pose2_to_pose3_retreat,0.582653815733,0.0100016957555,1.04004091948,0.553225537487,0.0186765309222,1.03967870604
+363,6.050000000,pose2_to_pose3_retreat,0.582405207165,0.0100017936983,1.04004086863,0.552976926911,0.0186766221867,1.03967865837
+364,6.066666667,pose2_to_pose3_retreat,0.582176872269,0.0100018751785,1.04004077743,0.552748591563,0.0186767023061,1.03967857135
+365,6.083333333,pose2_to_pose3_retreat,0.581971643906,0.0100018807696,1.04004081154,0.552543362653,0.01867670596,1.03967860352
+366,6.100000000,pose2_to_pose3_retreat,0.58179141927,0.0100018133114,1.04004086643,0.55236313928,0.01867664274,1.03967865737
+367,6.116666667,pose2_to_pose3_retreat,0.581633242048,0.0100018129701,1.04004083679,0.552204962712,0.0186766448923,1.03967863426
+368,6.133333333,pose2_to_pose3_retreat,0.581495389674,0.0100019412356,1.0400408113,0.552067108554,0.0186767673867,1.03967861551
+369,6.150000000,pose2_to_pose3_retreat,0.581374946669,0.0100020082637,1.04004085081,0.551946665623,0.0186768344961,1.03967865103
+370,6.166666667,pose2_to_pose3_retreat,0.581269010646,0.0100018689849,1.04004100985,0.551840730504,0.0186766977502,1.03967879733
+371,6.183333333,pose2_to_pose3_retreat,0.581176622693,0.0100018836274,1.04004109305,0.551748342119,0.0186767110368,1.03967888491
+372,6.200000000,pose2_to_pose3_retreat,0.581094975164,0.0100019204304,1.04004079876,0.551666695507,0.0186767512145,1.03967859609
+373,6.216666667,pose2_to_pose3_retreat,0.581023467948,0.0100018736248,1.04004096468,0.551595188193,0.018676704021,1.03967876029
+374,6.233333333,pose2_to_pose3_retreat,0.580962616953,0.0100018406798,1.04004100475,0.5515343384,0.018676675213,1.03967880174
+375,6.250000000,pose2_to_pose3_retreat,0.580911803831,0.0100017980006,1.04004086208,0.551483525537,0.0186766332548,1.03967865517
+376,6.266666667,pose2_to_pose3_retreat,0.580870833168,0.0100018083588,1.04004079981,0.551442553795,0.0186766397509,1.03967858803
+377,6.283333333,pose2_to_pose3_retreat,0.580838599973,0.0100018922424,1.04004083326,0.551410319576,0.0186767203074,1.03967862493
+378,6.300000000,pose2_to_pose3_retreat,0.580814948788,0.0100018783011,1.04004072404,0.551386666891,0.0186767014773,1.03967852051
+379,6.316666667,pose2_to_pose3_retreat,0.580795778689,0.0100019135172,1.0400407239,0.55136749747,0.0186767389851,1.03967852021
+380,6.333333333,pose2_to_pose3_retreat,0.580780614049,0.0100018807922,1.04004078607,0.551352333791,0.018676709507,1.0396785821
+381,6.350000000,pose2_to_pose3_retreat,0.580768911326,0.0100018275948,1.04004081761,0.551340631792,0.0186766587174,1.03967861239
+382,6.366666667,pose2_to_pose3_retreat,0.580760015149,0.0100018023942,1.04004075349,0.551331735833,0.0186766341239,1.03967854517
+383,6.383333333,pose2_to_pose3_retreat,0.580753967937,0.0100018640337,1.0400408376,0.551325688523,0.0186766953581,1.03967862755
+384,6.400000000,pose2_to_pose3_retreat,0.580750084084,0.0100018809556,1.04004077141,0.551321804245,0.0186767112087,1.03967857041
+385,6.416666667,pose2_to_pose3_retreat,0.580748088829,0.0100018812944,1.0400406931,0.551319808636,0.0186767106984,1.03967850049
+386,6.433333333,pose2_to_pose3_retreat,0.580746938344,0.0100018464237,1.04004079722,0.551318658619,0.0186766771981,1.03967859944
+387,6.450000000,pose2_to_pose3_retreat,0.580746313424,0.0100018122151,1.04004091876,0.551318034245,0.0186766445439,1.03967871383
+388,6.466666667,pose2_to_pose3_retreat,0.580745983521,0.010001794156,1.04004098293,0.55131770463,0.0186766273054,1.03967877422
+389,6.483333333,pose2_to_pose3_retreat,0.580745798463,0.0100017840258,1.04004101893,0.551317519734,0.0186766176355,1.03967880809
+390,6.500000000,pose2_to_pose3_retreat,0.580745571007,0.0100017715746,1.04004106317,0.551317292476,0.0186766057501,1.03967884972
+391,6.516666667,pose2_to_pose3_retreat,0.580745544791,0.0100017701396,1.04004106827,0.551317266283,0.0186766043802,1.03967885452
+392,6.533333333,pose2_to_pose3_retreat,0.580745372989,0.010001760735,1.04004110168,0.551317094631,0.018676595403,1.03967888597
+393,6.550000000,pose2_to_pose3_retreat,0.580745213925,0.0100017520277,1.04004113262,0.551316935706,0.0186765870913,1.03967891509
+394,6.566666667,pose2_to_pose3_retreat,0.580745014992,0.0100017495836,1.04004110682,0.551316736774,0.0186765846729,1.03967888986
+395,6.583333333,pose2_to_pose3_retreat,0.5807448005,0.0100017501253,1.04004105473,0.551316522217,0.0186765850658,1.03967883948
+396,6.600000000,pose2_to_pose3_retreat,0.580744581237,0.0100017506791,1.04004100148,0.551316302888,0.0186765854674,1.03967878798
+397,6.616666667,pose2_to_pose3_retreat,0.58074430895,0.0100017513668,1.04004093536,0.551316030518,0.0186765859662,1.03967872403
+398,6.633333333,pose2_to_pose3_retreat,0.580744202226,0.0100017516363,1.04004090945,0.551315923762,0.0186765861617,1.03967869896
+399,6.650000000,pose2_to_pose3_retreat,0.580744190179,0.0100017516667,1.04004090652,0.551315911711,0.0186765861837,1.03967869613
+400,6.666666667,pose2_to_pose3_retreat,0.580744183161,0.0100017516845,1.04004090482,0.551315904691,0.0186765861966,1.03967869448
+401,6.683333333,pose2_to_pose3_retreat,0.580744084692,0.0100017519332,1.0400408809,0.551315806192,0.018676586377,1.03967867136
+402,6.700000000,pose2_to_pose3_retreat,0.580743910199,0.010001765165,1.04004086218,0.551315631549,0.0186765990711,1.03967865201
+403,6.716666667,pose2_to_pose3_retreat,0.580743776536,0.0100017942713,1.0400408829,0.551315497624,0.0186766271475,1.03967866929
+404,6.733333333,pose2_to_pose3_retreat,0.580743648296,0.010001853884,1.04004085162,0.551315368636,0.018676684225,1.03967863805
+405,6.750000000,pose2_to_pose3_retreat,0.580743590798,0.0100019385354,1.04004074408,0.551315309895,0.0186767649119,1.03967853663
+406,6.766666667,pose2_to_pose3_retreat,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720532,1.03967852766

Part2/Obstacle_avoidance/ball_0030_15/position_10/depth_04/fem_node.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63ca9ac800693e8c85e94ed38af4059ebfa6bb3056c56c1c92006107746f9a34
+size 25968443

Part2/Obstacle_avoidance/ball_0030_15/position_10/depth_04/simulation_data.csv

@@ -0,0 +1,410 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+1,0.016666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+2,0.033333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+3,0.050000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+4,0.066666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+5,0.083333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+6,0.100000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+7,0.116666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+8,0.133333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+9,0.150000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+10,0.166666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+11,0.183333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+12,0.200000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+13,0.216666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+14,0.233333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+15,0.250000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+16,0.266666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+17,0.283333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+18,0.300000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+19,0.316666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+20,0.333333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+21,0.350000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+22,0.366666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+23,0.383333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+24,0.400000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+25,0.416666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+26,0.433333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+27,0.450000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+28,0.466666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+29,0.483333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+30,0.500000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+31,0.516666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+32,0.533333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+33,0.550000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+34,0.566666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+35,0.583333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+36,0.600000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+37,0.616666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+38,0.633333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+39,0.650000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+40,0.666666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+41,0.683333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+42,0.700000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+43,0.716666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+44,0.733333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+45,0.750000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+46,0.766666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+47,0.783333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+48,0.800000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+49,0.816666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+50,0.833333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+51,0.850000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+52,0.866666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+53,0.883333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+54,0.900000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+55,0.916666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+56,0.933333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+57,0.950000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+58,0.966666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+59,0.983333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+60,1.000000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+61,1.016666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+62,1.033333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+63,1.050000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+64,1.066666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+65,1.083333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+66,1.100000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+67,1.116666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+68,1.133333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+69,1.150000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+70,1.166666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+71,1.183333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+72,1.200000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+73,1.216666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+74,1.233333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+75,1.250000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+76,1.266666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+77,1.283333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+78,1.300000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+79,1.316666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+80,1.333333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+81,1.350000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+82,1.366666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+83,1.383333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+84,1.400000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+85,1.416666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+86,1.433333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+87,1.450000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+88,1.466666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+89,1.483333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+90,1.500000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+91,1.516666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+92,1.533333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+93,1.550000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+94,1.566666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+95,1.583333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+96,1.600000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+97,1.616666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+98,1.633333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+99,1.650000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+100,1.666666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+101,1.683333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+102,1.700000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+103,1.716666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+104,1.733333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+105,1.750000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+106,1.766666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+107,1.783333333,pose1_to_pose2_press,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+108,1.800000000,pose1_to_pose2_press,0.580743637459,0.0100019196841,1.04004083126,0.55131535681,0.0186767469829,1.03967862526
+109,1.816666667,pose1_to_pose2_press,0.580743742981,0.010001879646,1.04004086743,0.551315462748,0.0186767084016,1.03967866253
+110,1.833333333,pose1_to_pose2_press,0.58074382627,0.0100018488141,1.04004088691,0.551315546346,0.0186766786553,1.03967868284
+111,1.850000000,pose1_to_pose2_press,0.580743878802,0.0100018293678,1.0400408992,0.551315599074,0.0186766598938,1.03967869565
+112,1.866666667,pose1_to_pose2_press,0.580744013623,0.0100017794597,1.04004093074,0.551315734396,0.0186766117431,1.03967872853
+113,1.883333333,pose1_to_pose2_press,0.58074412177,0.0100017537705,1.04004094648,0.551315842778,0.0186765868686,1.03967874473
+114,1.900000000,pose1_to_pose2_press,0.580744299264,0.010001765642,1.04004093635,0.551316020025,0.0186765978357,1.03967873303
+115,1.916666667,pose1_to_pose2_press,0.580745247275,0.0100018290486,1.04004088221,0.551316966715,0.0186766564116,1.03967867053
+116,1.933333333,pose1_to_pose2_press,0.58074892956,0.0100017865462,1.04004098765,0.55132065053,0.0186766189291,1.03967877182
+117,1.950000000,pose1_to_pose2_press,0.580756986489,0.0100018041699,1.04004095123,0.551328707706,0.0186766374916,1.03967873772
+118,1.966666667,pose1_to_pose2_press,0.580773870534,0.0100017584275,1.04004087497,0.551345592251,0.0186765942346,1.03967868035
+119,1.983333333,pose1_to_pose2_press,0.580800604088,0.0100018579123,1.04004086245,0.551372323698,0.0186766863434,1.0396786623
+120,2.000000000,pose1_to_pose2_press,0.58083822339,0.0100017696647,1.04004071299,0.551409945153,0.0186766052794,1.03967850987
+121,2.016666667,pose1_to_pose2_press,0.580885681862,0.0100018172697,1.04004058682,0.551457401294,0.0186766450634,1.03967838574
+122,2.033333333,pose1_to_pose2_press,0.580942383521,0.0100018295897,1.04004068708,0.551514102823,0.0186766571221,1.03967849023
+123,2.050000000,pose1_to_pose2_press,0.581005621526,0.0100018124991,1.04004083223,0.551577341814,0.0186766431603,1.03967863021
+124,2.066666667,pose1_to_pose2_press,0.581075410872,0.0100018066487,1.04004098761,0.551647130933,0.018676636197,1.03967877723
+125,2.083333333,pose1_to_pose2_press,0.58115363521,0.0100019141498,1.04004096009,0.551725352858,0.0186767355411,1.03967875039
+126,2.100000000,pose1_to_pose2_press,0.581241145001,0.0100018693895,1.04004077189,0.551812863325,0.0186766932088,1.0396785654
+127,2.116666667,pose1_to_pose2_press,0.581340942359,0.0100018328023,1.04004090174,0.551912663034,0.0186766646801,1.03967869717
+128,2.133333333,pose1_to_pose2_press,0.581453923258,0.0100018419698,1.04004108936,0.552025645355,0.0186766785239,1.03967888124
+129,2.150000000,pose1_to_pose2_press,0.581581397935,0.010001912643,1.04004100057,0.552153116058,0.0186767355757,1.03967878906
+130,2.166666667,pose1_to_pose2_press,0.581724367381,0.0100018723378,1.04004091867,0.552296086953,0.0186767009143,1.03967872455
+131,2.183333333,pose1_to_pose2_press,0.581883172188,0.0100017637777,1.04004072085,0.552454893084,0.0186765967479,1.03967852434
+132,2.200000000,pose1_to_pose2_press,0.582059782034,0.0100017388287,1.04004071084,0.552631502593,0.0186765704724,1.03967850992
+133,2.216666667,pose1_to_pose2_press,0.582254472095,0.010001779395,1.04004087741,0.552826193499,0.0186766138739,1.0396786757
+134,2.233333333,pose1_to_pose2_press,0.582469696372,0.010001845794,1.04004098105,0.553041416952,0.018676677206,1.03967877273
+135,2.250000000,pose1_to_pose2_press,0.582707185565,0.0100019565449,1.04004086437,0.553278902871,0.0186767766735,1.03967865182
+136,2.266666667,pose1_to_pose2_press,0.582968437217,0.0100018353392,1.04004083461,0.553540156345,0.0186766615488,1.03967861963
+137,2.283333333,pose1_to_pose2_press,0.58325217266,0.0100017181364,1.04004088718,0.553823894179,0.0186765525017,1.03967867322
+138,2.300000000,pose1_to_pose2_press,0.58355703282,0.0100018313762,1.04004086142,0.554128752327,0.0186766591952,1.03967865407
+139,2.316666667,pose1_to_pose2_press,0.583883435576,0.0100019098006,1.04004081995,0.554455153798,0.018676733648,1.03967862184
+140,2.333333333,pose1_to_pose2_press,0.584223918062,0.0100019091143,1.04004081764,0.554795636373,0.0186767332718,1.03967861966
+141,2.350000000,pose1_to_pose2_press,0.584574627075,0.0100019100444,1.040040794,0.5551463458,0.0186767352044,1.03967858634
+142,2.366666667,pose1_to_pose2_press,0.584941650336,0.0100018526894,1.04004066005,0.555513370585,0.0186766832322,1.0396784574
+143,2.383333333,pose1_to_pose2_press,0.58532633791,0.0100017374334,1.04004099684,0.555898058597,0.0186765691902,1.03967878762
+144,2.400000000,pose1_to_pose2_press,0.585731221357,0.0100018879007,1.04004118286,0.556302940382,0.0186767143743,1.03967898218
+145,2.416666667,pose1_to_pose2_press,0.586160185797,0.0100017146996,1.04004090425,0.556731907109,0.0186765486375,1.03967869648
+146,2.433333333,pose1_to_pose2_press,0.586619780926,0.0100017358716,1.04004084211,0.557191502885,0.0186765722044,1.03967863911
+147,2.450000000,pose1_to_pose2_press,0.587107554082,0.0100017813013,1.04004075869,0.557679274028,0.0186766107205,1.03967855361
+148,2.466666667,pose1_to_pose2_press,0.587626051403,0.0100017656513,1.04004071705,0.558197771641,0.018676596129,1.03967851349
+149,2.483333333,pose1_to_pose2_press,0.588165860948,0.0100017844591,1.04004087128,0.558737581347,0.0186766154773,1.03967866759
+150,2.500000000,pose1_to_pose2_press,0.588722915333,0.0100017391656,1.04004089441,0.559294636229,0.0186765718548,1.03967869041
+151,2.516666667,pose1_to_pose2_press,0.589289138012,0.0100017156985,1.04004078593,0.559860859388,0.0186765500013,1.03967858148
+152,2.533333333,pose1_to_pose2_press,0.589865846544,0.0100018090279,1.04004086758,0.560437567287,0.0186766412446,1.03967866456
+153,2.550000000,pose1_to_pose2_press,0.590459431893,0.0100018624012,1.04004099866,0.561031152347,0.0186766937115,1.03967879741
+154,2.566666667,pose1_to_pose2_press,0.591076330688,0.0100017582226,1.04004084997,0.561648052008,0.0186765922794,1.03967864416
+155,2.583333333,pose1_to_pose2_press,0.591718645091,0.0100017454603,1.04004079321,0.562290365272,0.018676575656,1.03967858743
+156,2.600000000,pose1_to_pose2_press,0.592385978197,0.0100018214689,1.04004049667,0.562957697368,0.0186766486575,1.03967830094
+157,2.616666667,pose1_to_pose2_press,0.593070975194,0.0100019283758,1.04004095428,0.563642695182,0.0186767580076,1.03967875058
+158,2.633333333,pose1_to_pose2_press,0.593766471182,0.0100016966865,1.04004075091,0.564338192379,0.018676530165,1.03967854107
+159,2.650000000,pose1_to_pose2_press,0.594471811491,0.0100018959198,1.04004084311,0.565043531871,0.0186767266447,1.03967863369
+160,2.666666667,pose1_to_pose2_press,0.595188642492,0.0100018658087,1.0400410689,0.565760359544,0.0186766851491,1.03967885719
+161,2.683333333,pose1_to_pose2_press,0.595917774182,0.0100017331673,1.04004102379,0.566489493997,0.018676561946,1.03967881371
+162,2.700000000,pose1_to_pose2_press,0.596658858569,0.0100017180363,1.04004091586,0.567230580435,0.0186765536956,1.039678704
+163,2.716666667,pose1_to_pose2_press,0.597420743581,0.0100017649169,1.04004086944,0.567992464956,0.0186765989558,1.03967865862
+164,2.733333333,pose1_to_pose2_press,0.598199073871,0.0100018454533,1.04004089969,0.568770793884,0.0186766751936,1.03967869654
+165,2.750000000,pose1_to_pose2_press,0.598989564827,0.0100019221723,1.04004087132,0.569561283855,0.0186767488659,1.03967867522
+166,2.766666667,pose1_to_pose2_press,0.59978680383,0.0100018240532,1.04004076588,0.57035852391,0.0186766542799,1.03967856899
+167,2.783333333,pose1_to_pose2_press,0.60058527258,0.0100016446094,1.04004079578,0.571156995334,0.0186764837071,1.03967859411
+168,2.800000000,pose1_to_pose2_press,0.601386193493,0.0100016859439,1.04004090351,0.571957916663,0.01867652626,1.03967869727
+169,2.816666667,pose1_to_pose2_press,0.602190249561,0.010001808397,1.04004079467,0.572761970147,0.0186766397879,1.03967858456
+170,2.833333333,pose1_to_pose2_press,0.602995804691,0.0100018489626,1.04004089792,0.573567523726,0.0186766756637,1.03967870156
+171,2.850000000,pose1_to_pose2_press,0.603804387964,0.01000160238,1.04004072918,0.574376110396,0.0186764403645,1.03967852713
+172,2.866666667,pose1_to_pose2_press,0.604614723773,0.0100016904687,1.04004111551,0.575186445289,0.0186765248854,1.03967890247
+173,2.883333333,pose1_to_pose2_press,0.605423033231,0.0100019418861,1.04004076699,0.575994751717,0.0186767664126,1.03967856336
+174,2.900000000,pose1_to_pose2_press,0.6062330235,0.0100018043517,1.04004082645,0.576804742374,0.0186766301928,1.03967862276
+175,2.916666667,pose1_to_pose2_press,0.607035972859,0.0100017253276,1.04004086425,0.577607693092,0.0186765555481,1.03967865503
+176,2.933333333,pose1_to_pose2_press,0.607839017516,0.0100016749146,1.04004078004,0.578410738521,0.0186765078615,1.03967857351
+177,2.950000000,pose1_to_pose2_press,0.608650932335,0.0100017359796,1.04004082315,0.579222652939,0.0186765674615,1.03967861417
+178,2.966666667,pose1_to_pose2_press,0.609459106236,0.0100018158108,1.04004085763,0.580030825628,0.0186766432536,1.03967865039
+179,2.983333333,pose1_to_pose2_press,0.610259460748,0.0100017973106,1.04004077678,0.580831180445,0.0186766259913,1.03967857447
+180,3.000000000,pose1_to_pose2_press,0.611046692349,0.0100017827492,1.04004080117,0.581618413102,0.0186766151204,1.03967860149
+181,3.016666667,pose1_to_pose2_press,0.611818093566,0.010001818828,1.04004093303,0.582389814019,0.0186766503046,1.03967873638
+182,3.033333333,pose1_to_pose2_press,0.612579440567,0.0100018267534,1.04004093159,0.583151160104,0.0186766551179,1.03967873488
+183,3.050000000,pose1_to_pose2_press,0.613331935665,0.0100018968589,1.04004089587,0.5839036538,0.0186767203913,1.0396786975
+184,3.066666667,pose1_to_pose2_press,0.614076088589,0.0100018116045,1.04004073662,0.584647807937,0.0186766389897,1.03967853201
+185,3.083333333,pose1_to_pose2_press,0.614814538305,0.0100020062487,1.04004085189,0.585386255224,0.0186768253052,1.03967864524
+186,3.100000000,pose1_to_pose2_press,0.615541824709,0.0100018033698,1.04004085208,0.586113545911,0.0186766370358,1.0396786474
+187,3.116666667,pose1_to_pose2_press,0.616252650854,0.0100017167427,1.04004096071,0.58682437187,0.0186765497084,1.03967875438
+188,3.133333333,pose1_to_pose2_press,0.616946534974,0.0100017547287,1.0400408748,0.587518256733,0.0186765902843,1.03967867024
+189,3.150000000,pose1_to_pose2_press,0.617622296622,0.0100017068237,1.04004077409,0.58819401828,0.0186765418844,1.03967856599
+190,3.166666667,pose1_to_pose2_press,0.618283411021,0.0100017377957,1.04004090744,0.588855132431,0.0186765721236,1.03967870195
+191,3.183333333,pose1_to_pose2_press,0.618926877175,0.010001940303,1.04004087339,0.589498595083,0.0186767629729,1.03967867317
+192,3.200000000,pose1_to_pose2_press,0.619547794624,0.0100019005118,1.04004089171,0.590119512394,0.0186767227744,1.03967869309
+193,3.216666667,pose1_to_pose2_press,0.620146575956,0.0100018465533,1.0400408908,0.59071829445,0.0186766711535,1.03967868948
+194,3.233333333,pose1_to_pose2_press,0.620726221821,0.0100019107201,1.04004088992,0.591297939927,0.018676733951,1.03967868711
+195,3.250000000,pose1_to_pose2_press,0.621292343584,0.0100018761313,1.04004089783,0.591864062776,0.018676703184,1.03967869739
+196,3.266666667,pose1_to_pose2_press,0.621845531328,0.0100017671157,1.04004083249,0.592417252648,0.0186766014204,1.03967863125
+197,3.283333333,pose1_to_pose2_press,0.622377580858,0.0100017828338,1.04004085897,0.592949302341,0.0186766175916,1.03967865369
+198,3.300000000,pose1_to_pose2_press,0.622883219485,0.0100018034704,1.04004082045,0.593454939393,0.0186766332325,1.03967862236
+199,3.316666667,pose1_to_pose2_press,0.623357206613,0.0100017263367,1.04004078029,0.593928927158,0.018676558433,1.03967858559
+200,3.333333333,pose1_to_pose2_press,0.623803374575,0.010001771373,1.04004072639,0.594375094915,0.0186766023893,1.03967852257
+201,3.350000000,pose1_to_pose2_press,0.624225903234,0.0100018095821,1.04004081403,0.594797623057,0.0186766390305,1.03967861507
+202,3.366666667,pose1_to_pose2_press,0.624632472864,0.0100018172236,1.04004084557,0.595204192336,0.0186766451718,1.03967863965
+203,3.383333333,pose1_to_pose2_press,0.62502627858,0.0100018055276,1.04004073582,0.59559799826,0.0186766343937,1.03967853517
+204,3.400000000,pose1_to_pose2_press,0.625402319674,0.0100017973253,1.04004071141,0.595974040206,0.0186766290299,1.03967850982
+205,3.416666667,pose1_to_pose2_press,0.625758184707,0.0100018496306,1.04004078874,0.596329904119,0.0186766776011,1.03967858929
+206,3.433333333,pose1_to_pose2_press,0.626088278501,0.010001860128,1.04004094894,0.596659997498,0.0186766868582,1.03967875352
+207,3.450000000,pose1_to_pose2_press,0.62639156304,0.0100018952754,1.04004098884,0.596963281792,0.0186767210622,1.03967878992
+208,3.466666667,pose1_to_pose2_press,0.62666404419,0.0100019413736,1.04004094024,0.597235762565,0.0186767659553,1.03967874176
+209,3.483333333,pose1_to_pose2_press,0.626914259209,0.0100019224984,1.04004086318,0.597485977352,0.0186767463874,1.03967866634
+210,3.500000000,pose1_to_pose2_press,0.627145659533,0.0100018597155,1.04004075679,0.59771737756,0.018676682742,1.03967854944
+211,3.516666667,pose1_to_pose2_press,0.627364582476,0.01000194117,1.040040846,0.597936301719,0.0186767684274,1.03967864111
+212,3.533333333,pose1_to_pose2_press,0.627572365353,0.0100019659291,1.04004082478,0.598144084338,0.0186767925369,1.03967862632
+213,3.550000000,pose1_to_pose2_press,0.627768904311,0.0100018439843,1.04004084873,0.598340624469,0.018676674345,1.03967864491
+214,3.566666667,pose1_to_pose2_press,0.627951354787,0.0100019839354,1.04004090812,0.598523073899,0.0186768111563,1.0396787134
+215,3.583333333,pose1_to_pose2_press,0.628115884136,0.0100019113541,1.04004093428,0.598687603901,0.0186767406927,1.03967873625
+216,3.600000000,pose1_to_pose2_press,0.628262041776,0.0100019082613,1.04004079142,0.598833761774,0.0186767380742,1.03967858676
+217,3.616666667,pose1_to_pose2_press,0.628389541661,0.010001885527,1.04004071326,0.598961263265,0.0186767209272,1.03967851257
+218,3.633333333,pose1_to_pose2_press,0.62850123751,0.0100018612033,1.04004079902,0.599072958572,0.0186766945952,1.03967859421
+219,3.650000000,pose1_to_pose2_press,0.62859899258,0.010001852203,1.04004097612,0.599170712667,0.0186766821874,1.03967876839
+220,3.666666667,pose1_to_pose2_press,0.628683973967,0.0100018508343,1.04004096874,0.599255694171,0.0186766812541,1.03967876254
+221,3.683333333,pose1_to_pose2_press,0.628758159262,0.0100018866019,1.04004076817,0.59932987926,0.0186767162308,1.03967856099
+222,3.700000000,pose1_to_pose2_press,0.628821923833,0.0100019473827,1.04004083563,0.599393643422,0.0186767758815,1.03967863341
+223,3.716666667,pose1_to_pose2_press,0.628876618846,0.0100017564221,1.04004085527,0.599448339451,0.0186765882258,1.03967864896
+224,3.733333333,pose1_to_pose2_press,0.628922610907,0.0100018012632,1.04004089174,0.599494330495,0.018676629372,1.03967867585
+225,3.750000000,pose1_to_pose2_press,0.628960975759,0.0100016790091,1.04004088483,0.599532697387,0.0186765141437,1.03967867051
+226,3.766666667,pose1_to_pose2_press,0.628992408794,0.0100017009185,1.04004094656,0.599564131203,0.0186765388411,1.03967874021
+227,3.783333333,pose1_to_pose2_press,0.629016878815,0.0100017383061,1.04004088869,0.599588600233,0.0186765728375,1.03967868252
+228,3.800000000,pose1_to_pose2_press,0.629035760526,0.0100018544943,1.04004100065,0.599607480048,0.0186766825053,1.03967879221
+229,3.816666667,pose1_to_pose2_press,0.629049500478,0.010001903492,1.04004104677,0.599621219331,0.0186767293333,1.03967883969
+230,3.833333333,pose1_to_pose2_press,0.629059409318,0.0100018506837,1.04004090758,0.599631128882,0.0186766791827,1.03967870506
+231,3.850000000,pose1_to_pose2_press,0.62906621502,0.0100018047628,1.04004072616,0.59963793534,0.0186766359936,1.03967852813
+232,3.866666667,pose1_to_pose2_press,0.629070626704,0.0100017963221,1.04004078234,0.599642347811,0.0186766300924,1.03967858174
+233,3.883333333,pose1_to_pose2_press,0.629073484209,0.0100017831288,1.04004083977,0.599645205851,0.0186766186031,1.03967863717
+234,3.900000000,pose1_to_pose2_press,0.629075110167,0.0100017221412,1.04004082851,0.59964683198,0.0186765582331,1.03967862772
+235,3.916666667,pose1_to_pose2_press,0.629076208656,0.0100016809383,1.0400408209,0.599647930585,0.0186765174474,1.03967862133
+236,3.933333333,pose1_to_pose2_press,0.629076930249,0.0100016538723,1.0400408159,0.599648652254,0.0186764906555,1.03967861713
+237,3.950000000,pose1_to_pose2_press,0.629077469063,0.010001693622,1.04004078593,0.599649190674,0.0186765290849,1.03967858687
+238,3.966666667,pose1_to_pose2_press,0.629077883418,0.0100017266242,1.04004076181,0.599649604707,0.0186765610097,1.03967856249
+239,3.983333333,pose1_to_pose2_press,0.629078050089,0.010001739899,1.04004075211,0.599649771249,0.0186765738512,1.03967855269
+240,4.000000000,pose1_to_pose2_press,0.629078077105,0.0100017420508,1.04004075054,0.599649798244,0.0186765759328,1.0396785511
+241,4.016666667,pose1_to_pose2_press,0.629078231171,0.0100017543216,1.04004074157,0.59964995219,0.018676587803,1.03967854203
+242,4.033333333,pose1_to_pose2_press,0.629078292717,0.0100017592236,1.04004073799,0.599650013688,0.018676592545,1.03967853841
+243,4.050000000,pose1_to_pose2_press,0.629078678014,0.0100017899114,1.04004071556,0.599650398687,0.018676622231,1.03967851575
+244,4.066666667,pose1_to_pose2_press,0.629079226622,0.010001797567,1.04004071068,0.599650947411,0.0186766302102,1.03967850906
+245,4.083333333,pose1_to_pose2_press,0.629079813087,0.0100017726638,1.04004071691,0.599651534389,0.0186766069036,1.03967851236
+246,4.100000000,pose1_to_pose2_press,0.629080147086,0.0100017178016,1.04004062787,0.599651869257,0.0186765548313,1.0396784197
+247,4.116666667,pose2_hold,0.629080147086,0.0100017178016,1.04004062787,0.599651869265,0.0186765548297,1.0396784197
+248,4.133333333,pose2_hold,0.629080147086,0.0100017178016,1.04004062787,0.599651869266,0.0186765548295,1.0396784197
+249,4.150000000,pose2_hold,0.629080147086,0.0100017178016,1.04004062787,0.599651869266,0.0186765548294,1.0396784197
+250,4.166666667,pose2_hold,0.629080147086,0.0100017178016,1.04004062787,0.599651869266,0.0186765548297,1.0396784197
+251,4.183333333,pose2_hold,0.629080147086,0.0100017178016,1.04004062787,0.599651869266,0.0186765548301,1.0396784197
+252,4.200000000,pose2_hold,0.629080147086,0.0100017178016,1.04004062787,0.599651869267,0.0186765548302,1.0396784197
+253,4.216666667,pose2_hold,0.629080147086,0.0100017178016,1.04004062787,0.599651869267,0.0186765548302,1.0396784197
+254,4.233333333,pose2_hold,0.629080147086,0.0100017178016,1.04004062787,0.599651869268,0.0186765548293,1.0396784197
+255,4.250000000,pose2_hold,0.629080147086,0.0100017178016,1.04004062787,0.599651869268,0.0186765548293,1.0396784197
+256,4.266666667,pose2_hold,0.629080147086,0.0100017178016,1.04004062787,0.599651869269,0.0186765548293,1.03967841971
+257,4.283333333,pose2_hold,0.629080147086,0.0100017178016,1.04004062787,0.599651869269,0.0186765548294,1.0396784197
+258,4.300000000,pose2_hold,0.629080147086,0.0100017178016,1.04004062787,0.599651869269,0.0186765548299,1.0396784197
+259,4.316666667,pose2_hold,0.629080147086,0.0100017178016,1.04004062787,0.59965186927,0.0186765548285,1.0396784197
+260,4.333333333,pose2_hold,0.629080147086,0.0100017178016,1.04004062787,0.599651869271,0.0186765548287,1.0396784197
+261,4.350000000,pose2_hold,0.629080147086,0.0100017178016,1.04004062787,0.599651869271,0.0186765548294,1.0396784197
+262,4.366666667,pose2_hold,0.629080147086,0.0100017178016,1.04004062787,0.599651869272,0.0186765548287,1.03967841971
+263,4.383333333,pose2_hold,0.629080147086,0.0100017178016,1.04004062787,0.599651869273,0.0186765548279,1.0396784197
+264,4.400000000,pose2_hold,0.629080147086,0.0100017178016,1.04004062787,0.599651869274,0.0186765548286,1.03967841971
+265,4.416666667,pose2_to_pose3_retreat,0.62908014607,0.010001644991,1.04004063336,0.599651869052,0.018676484591,1.03967842272
+266,4.433333333,pose2_to_pose3_retreat,0.62908014696,0.0100016500074,1.04004062003,0.59965186908,0.0186764868049,1.03967841247
+267,4.450000000,pose2_to_pose3_retreat,0.629080090109,0.0100016773367,1.04004062522,0.599651811628,0.0186765121891,1.03967841992
+268,4.466666667,pose2_to_pose3_retreat,0.629080004647,0.0100017141143,1.04004064352,0.599651725953,0.0186765482832,1.03967843914
+269,4.483333333,pose2_to_pose3_retreat,0.629079821099,0.0100017931019,1.04004068281,0.599651541947,0.0186766258027,1.03967848041
+270,4.500000000,pose2_to_pose3_retreat,0.629079426471,0.0100018752866,1.0400407167,0.599651146532,0.0186767052941,1.03967851378
+271,4.516666667,pose2_to_pose3_retreat,0.62907815616,0.0100018691038,1.04004072641,0.599649875813,0.0186766976426,1.03967852154
+272,4.533333333,pose2_to_pose3_retreat,0.629074474846,0.0100017538686,1.04004077248,0.599646195333,0.018676585351,1.03967857051
+273,4.550000000,pose2_to_pose3_retreat,0.629065855047,0.0100018500517,1.04004093365,0.59963757663,0.0186766852359,1.03967873139
+274,4.566666667,pose2_to_pose3_retreat,0.629049273934,0.0100019138081,1.04004087122,0.599620993673,0.0186767427008,1.03967866852
+275,4.583333333,pose2_to_pose3_retreat,0.629022753228,0.01000187656,1.04004099628,0.599594474097,0.0186767089346,1.03967878558
+276,4.600000000,pose2_to_pose3_retreat,0.628985649771,0.0100018814317,1.04004098379,0.599557369216,0.0186767090994,1.03967877568
+277,4.616666667,pose2_to_pose3_retreat,0.628938443008,0.0100017589527,1.04004081129,0.599510161457,0.0186765835171,1.03967860993
+278,4.633333333,pose2_to_pose3_retreat,0.62888138659,0.0100019474404,1.04004073446,0.599453104593,0.0186767704748,1.03967853303
+279,4.650000000,pose2_to_pose3_retreat,0.628817111897,0.0100018546191,1.04004085036,0.599388833133,0.0186766884295,1.03967864533
+280,4.666666667,pose2_to_pose3_retreat,0.628746972032,0.010001759387,1.04004089801,0.599318692678,0.0186765909572,1.03967868863
+281,4.683333333,pose2_to_pose3_retreat,0.628669321415,0.0100017295979,1.0400411385,0.599241042453,0.0186765623468,1.0396789227
+282,4.700000000,pose2_to_pose3_retreat,0.628583700295,0.0100018096805,1.04004091685,0.599155420872,0.0186766409691,1.03967870557
+283,4.716666667,pose2_to_pose3_retreat,0.628486689883,0.0100018431271,1.04004074617,0.59905840927,0.0186766708127,1.03967854618
+284,4.733333333,pose2_to_pose3_retreat,0.628377095235,0.0100019002635,1.04004075968,0.598948815395,0.0186767306512,1.03967856136
+285,4.750000000,pose2_to_pose3_retreat,0.628251915973,0.0100019145024,1.04004084744,0.598823637233,0.0186767483914,1.03967864329
+286,4.766666667,pose2_to_pose3_retreat,0.628110061856,0.0100018402957,1.04004087631,0.598681782271,0.0186766712408,1.03967867052
+287,4.783333333,pose2_to_pose3_retreat,0.627949705272,0.0100018107008,1.04004092677,0.598521424532,0.0186766380223,1.03967872813
+288,4.800000000,pose2_to_pose3_retreat,0.627771462848,0.0100017808725,1.04004086694,0.598343182234,0.0186766082057,1.03967865877
+289,4.816666667,pose2_to_pose3_retreat,0.62757467849,0.0100018427509,1.04004083982,0.598146400637,0.0186766797612,1.0396786388
+290,4.833333333,pose2_to_pose3_retreat,0.627356638945,0.0100019735618,1.04004093641,0.597928358016,0.0186768000191,1.03967873283
+291,4.850000000,pose2_to_pose3_retreat,0.627119790982,0.0100019089493,1.0400409524,0.597691510237,0.0186767361368,1.03967875163
+292,4.866666667,pose2_to_pose3_retreat,0.626865036142,0.0100019225295,1.04004101335,0.597436755173,0.0186767489632,1.0396788127
+293,4.883333333,pose2_to_pose3_retreat,0.626595760219,0.0100019232507,1.0400409808,0.597167478469,0.0186767468316,1.03967877524
+294,4.900000000,pose2_to_pose3_retreat,0.626313107179,0.0100018832897,1.0400408646,0.596884825331,0.018676706341,1.0396786542
+295,4.916666667,pose2_to_pose3_retreat,0.626010876465,0.0100019382488,1.04004087161,0.596582594954,0.0186767624647,1.03967866173
+296,4.933333333,pose2_to_pose3_retreat,0.625687945901,0.0100017470364,1.0400408344,0.596259666393,0.0186765783458,1.03967863174
+297,4.950000000,pose2_to_pose3_retreat,0.625339017011,0.0100018726627,1.04004073553,0.59591073549,0.0186766971854,1.03967853405
+298,4.966666667,pose2_to_pose3_retreat,0.624962062675,0.0100017699068,1.04004052858,0.595533783531,0.0186766024928,1.03967832758
+299,4.983333333,pose2_to_pose3_retreat,0.624554165899,0.0100017781467,1.04004072512,0.595125886011,0.0186766080003,1.03967851886
+300,5.000000000,pose2_to_pose3_retreat,0.624121505909,0.0100017862463,1.04004100869,0.59469322661,0.018676617937,1.03967879851
+301,5.016666667,pose2_to_pose3_retreat,0.623663913064,0.0100017753314,1.04004105818,0.594235633996,0.0186766077902,1.03967884777
+302,5.033333333,pose2_to_pose3_retreat,0.623177698389,0.0100017763619,1.04004101792,0.593749418378,0.0186766058538,1.03967881312
+303,5.050000000,pose2_to_pose3_retreat,0.622668050236,0.0100017976447,1.04004098873,0.59323977069,0.018676628908,1.03967878877
+304,5.066666667,pose2_to_pose3_retreat,0.622140569679,0.0100018312655,1.04004084497,0.592712290708,0.0186766642564,1.03967863975
+305,5.083333333,pose2_to_pose3_retreat,0.621596625906,0.0100017586929,1.04004084968,0.592168346586,0.0186765904721,1.03967864333
+306,5.100000000,pose2_to_pose3_retreat,0.621035846136,0.0100016834808,1.04004085674,0.591607568171,0.0186765197182,1.03967864709
+307,5.116666667,pose2_to_pose3_retreat,0.62045088305,0.0100018251729,1.04004072552,0.591022603191,0.0186766553025,1.03967852296
+308,5.133333333,pose2_to_pose3_retreat,0.619839671585,0.0100017947042,1.04004074524,0.590411391821,0.0186766249162,1.03967853727
+309,5.150000000,pose2_to_pose3_retreat,0.619203036391,0.0100017212168,1.04004071907,0.589774757488,0.0186765545621,1.03967851567
+310,5.166666667,pose2_to_pose3_retreat,0.618546787681,0.0100019112223,1.04004081921,0.58911850696,0.0186767382013,1.03967861204
+311,5.183333333,pose2_to_pose3_retreat,0.617874441855,0.0100017639442,1.04004087119,0.588446161391,0.0186765916569,1.0396786612
+312,5.200000000,pose2_to_pose3_retreat,0.617194701719,0.0100017455636,1.04004086104,0.587766420642,0.0186765712965,1.03967865329
+313,5.216666667,pose2_to_pose3_retreat,0.61650444116,0.0100018449972,1.04004084641,0.587076160317,0.0186766716418,1.03967864146
+314,5.233333333,pose2_to_pose3_retreat,0.615788512992,0.0100018446454,1.04004084508,0.586360234003,0.0186766776031,1.03967864117
+315,5.250000000,pose2_to_pose3_retreat,0.61504760215,0.010001938258,1.04004081919,0.585619321995,0.0186767673186,1.03967861662
+316,5.266666667,pose2_to_pose3_retreat,0.614283238547,0.0100019146732,1.04004073567,0.584854957717,0.0186767415443,1.03967853333
+317,5.283333333,pose2_to_pose3_retreat,0.613501755981,0.0100016321716,1.04004082681,0.584073477728,0.0186764676684,1.03967862479
+318,5.300000000,pose2_to_pose3_retreat,0.612704348106,0.0100017326012,1.04004069105,0.58327607109,0.0186765726897,1.03967849532
+319,5.316666667,pose2_to_pose3_retreat,0.611910543052,0.0100016909905,1.04004084928,0.582482263547,0.0186765221127,1.03967864171
+320,5.333333333,pose2_to_pose3_retreat,0.611119626745,0.0100019288656,1.0400408817,0.581691345873,0.0186767560406,1.03967869161
+321,5.350000000,pose2_to_pose3_retreat,0.610322453545,0.0100019340905,1.04004069899,0.580894171951,0.0186767583098,1.03967849692
+322,5.366666667,pose2_to_pose3_retreat,0.609516905202,0.0100018880692,1.04004074194,0.580088625085,0.018676717312,1.03967854013
+323,5.383333333,pose2_to_pose3_retreat,0.60869786705,0.0100018186847,1.04004077165,0.579269588013,0.0186766516751,1.03967857043
+324,5.400000000,pose2_to_pose3_retreat,0.607866941296,0.0100017696436,1.04004071677,0.578438662079,0.0186766019814,1.03967851427
+325,5.416666667,pose2_to_pose3_retreat,0.607028057444,0.0100018054643,1.04004077803,0.577599777952,0.0186766369982,1.03967858022
+326,5.433333333,pose2_to_pose3_retreat,0.606179523507,0.0100018236529,1.0400408719,0.576751243856,0.0186766546886,1.03967867501
+327,5.450000000,pose2_to_pose3_retreat,0.605329145639,0.0100017011488,1.04004073811,0.575900865781,0.0186765312065,1.03967853452
+328,5.466666667,pose2_to_pose3_retreat,0.604494705914,0.010001824399,1.04004085974,0.575066426285,0.0186766550133,1.03967865073
+329,5.483333333,pose2_to_pose3_retreat,0.603667980592,0.0100020174226,1.04004083528,0.574239697959,0.0186768381077,1.03967863249
+330,5.500000000,pose2_to_pose3_retreat,0.602845070927,0.0100019502372,1.04004095649,0.573416790137,0.0186767770823,1.03967875147
+331,5.516666667,pose2_to_pose3_retreat,0.602029333038,0.0100019039602,1.0400408895,0.572601053103,0.0186767335898,1.03967868173
+332,5.533333333,pose2_to_pose3_retreat,0.601217331204,0.0100017914824,1.04004084531,0.571789052437,0.0186766252199,1.03967864102
+333,5.550000000,pose2_to_pose3_retreat,0.600402303495,0.0100017823315,1.04004071188,0.570974024526,0.0186766155034,1.03967850891
+334,5.566666667,pose2_to_pose3_retreat,0.599584699522,0.010001773926,1.04004060828,0.570156421039,0.0186766087401,1.03967840334
+335,5.583333333,pose2_to_pose3_retreat,0.59876583916,0.0100017350162,1.04004075323,0.569337560576,0.0186765693543,1.03967854441
+336,5.600000000,pose2_to_pose3_retreat,0.597952157177,0.0100017758869,1.04004095705,0.568523876354,0.018676602518,1.03967874548
+337,5.616666667,pose2_to_pose3_retreat,0.597145843552,0.0100017892916,1.04004086538,0.567717563196,0.0186766178331,1.03967866155
+338,5.633333333,pose2_to_pose3_retreat,0.596361972653,0.0100018055797,1.04004090462,0.566933691372,0.0186766315075,1.03967871334
+339,5.650000000,pose2_to_pose3_retreat,0.595602197444,0.0100018675471,1.04004094391,0.566173918136,0.0186766998387,1.03967874477
+340,5.666666667,pose2_to_pose3_retreat,0.594861947229,0.0100016896984,1.04004089883,0.565433669118,0.0186765254161,1.03967868448
+341,5.683333333,pose2_to_pose3_retreat,0.594138392641,0.0100018227769,1.04004095097,0.564710112946,0.018676653477,1.03967874517
+342,5.700000000,pose2_to_pose3_retreat,0.593428767518,0.0100018576311,1.04004098704,0.564000486404,0.018676683399,1.0396787783
+343,5.716666667,pose2_to_pose3_retreat,0.592726231337,0.0100017875291,1.04004075038,0.563297951838,0.0186766189045,1.03967854478
+344,5.733333333,pose2_to_pose3_retreat,0.592033202488,0.0100017784889,1.04004082961,0.562604922893,0.0186766092487,1.03967861698
+345,5.750000000,pose2_to_pose3_retreat,0.591356884197,0.0100017872313,1.04004100425,0.561928603389,0.0186766138172,1.03967879015
+346,5.766666667,pose2_to_pose3_retreat,0.590699443963,0.0100017638456,1.04004095711,0.561271163996,0.0186765937271,1.03967875361
+347,5.783333333,pose2_to_pose3_retreat,0.59006447412,0.0100018222595,1.04004095075,0.560636195035,0.0186766551704,1.03967874921
+348,5.800000000,pose2_to_pose3_retreat,0.589450604828,0.010001930881,1.04004093516,0.560022324245,0.0186767585642,1.0396787331
+349,5.816666667,pose2_to_pose3_retreat,0.588861065618,0.0100018344573,1.04004086721,0.559432785201,0.0186766624114,1.03967865767
+350,5.833333333,pose2_to_pose3_retreat,0.58829609158,0.0100018464369,1.04004085044,0.558867811542,0.0186766758567,1.03967864517
+351,5.850000000,pose2_to_pose3_retreat,0.587756422091,0.0100018689541,1.04004071826,0.558328140988,0.0186766949677,1.03967851791
+352,5.866666667,pose2_to_pose3_retreat,0.587240968036,0.0100018753693,1.04004079687,0.557812686671,0.0186767005928,1.03967859883
+353,5.883333333,pose2_to_pose3_retreat,0.586741967229,0.0100017284411,1.04004076009,0.55731368775,0.0186765598613,1.03967855718
+354,5.900000000,pose2_to_pose3_retreat,0.586254555221,0.0100017132747,1.04004065333,0.556826276253,0.0186765463442,1.0396784483
+355,5.916666667,pose2_to_pose3_retreat,0.585783268281,0.0100018208313,1.04004082423,0.556354987815,0.0186766485457,1.03967861262
+356,5.933333333,pose2_to_pose3_retreat,0.585331812342,0.0100019252364,1.04004097979,0.555903531469,0.0186767518188,1.03967877358
+357,5.950000000,pose2_to_pose3_retreat,0.58491083808,0.0100019131228,1.0400408388,0.555482557828,0.0186767422383,1.03967864257
+358,5.966666667,pose2_to_pose3_retreat,0.58452108455,0.0100017984507,1.04004070106,0.555092804283,0.0186766273408,1.03967850098
+359,5.983333333,pose2_to_pose3_retreat,0.58416488223,0.0100017887392,1.04004076996,0.554736602226,0.0186766185561,1.03967857071
+360,6.000000000,pose2_to_pose3_retreat,0.583834852444,0.0100019534261,1.04004109131,0.554406571405,0.0186767793529,1.03967888339
+361,6.016666667,pose2_to_pose3_retreat,0.583527973421,0.0100018743039,1.04004101564,0.554099693191,0.0186767027479,1.03967880259
+362,6.033333333,pose2_to_pose3_retreat,0.583234646022,0.0100019518744,1.0400409698,0.553806364807,0.0186767773475,1.03967876523
+363,6.050000000,pose2_to_pose3_retreat,0.582953122851,0.0100018729715,1.04004089645,0.553524841238,0.0186766969408,1.0396786881
+364,6.066666667,pose2_to_pose3_retreat,0.582685524838,0.010001845903,1.04004086167,0.553257243983,0.0186766724661,1.03967865427
+365,6.083333333,pose2_to_pose3_retreat,0.582433064745,0.0100018616682,1.04004094337,0.553004784451,0.0186766900866,1.03967873477
+366,6.100000000,pose2_to_pose3_retreat,0.582200123069,0.0100018897734,1.04004105439,0.55277184246,0.0186767172324,1.03967884812
+367,6.116666667,pose2_to_pose3_retreat,0.581990726639,0.0100019286341,1.04004093852,0.552562445883,0.0186767557787,1.0396787367
+368,6.133333333,pose2_to_pose3_retreat,0.581807758155,0.010001899342,1.04004085433,0.552379477945,0.018676728136,1.03967864788
+369,6.150000000,pose2_to_pose3_retreat,0.581647506596,0.0100018833505,1.04004087098,0.552219226082,0.0186767109677,1.03967866114
+370,6.166666667,pose2_to_pose3_retreat,0.581508290809,0.0100019148845,1.04004089243,0.552080009569,0.0186767401726,1.03967868572
+371,6.183333333,pose2_to_pose3_retreat,0.581387803625,0.0100018985599,1.04004098284,0.551959522869,0.0186767253934,1.03967877384
+372,6.200000000,pose2_to_pose3_retreat,0.581281627762,0.0100018746211,1.04004104498,0.551853347107,0.0186767012972,1.03967882414
+373,6.216666667,pose2_to_pose3_retreat,0.581187553699,0.0100019171457,1.04004107421,0.551759273289,0.0186767452736,1.03967887018
+374,6.233333333,pose2_to_pose3_retreat,0.581104668344,0.0100018964531,1.04004102216,0.551676388798,0.0186767273151,1.03967881237
+375,6.250000000,pose2_to_pose3_retreat,0.581033084881,0.0100018396557,1.04004091227,0.551604805531,0.0186766712039,1.03967870255
+376,6.266666667,pose2_to_pose3_retreat,0.580972143804,0.0100018068154,1.04004083441,0.551543864043,0.0186766373234,1.03967863314
+377,6.283333333,pose2_to_pose3_retreat,0.580921311827,0.010001768134,1.04004076189,0.551493032487,0.0186766002379,1.03967856457
+378,6.300000000,pose2_to_pose3_retreat,0.580880622654,0.0100017564281,1.04004080223,0.551452343349,0.0186765884883,1.03967860088
+379,6.316666667,pose2_to_pose3_retreat,0.580847764038,0.0100018358153,1.04004106172,0.551419482256,0.0186766592972,1.03967885616
+380,6.333333333,pose2_to_pose3_retreat,0.580821862665,0.0100018049175,1.04004076727,0.551393581959,0.0186766321588,1.03967856435
+381,6.350000000,pose2_to_pose3_retreat,0.58080081973,0.0100018502537,1.04004070116,0.551372538481,0.0186766757852,1.03967850139
+382,6.366666667,pose2_to_pose3_retreat,0.580784351507,0.0100017996796,1.04004070996,0.551356071505,0.0186766293641,1.03967850837
+383,6.383333333,pose2_to_pose3_retreat,0.580771540923,0.010001719237,1.04004071695,0.551343262651,0.0186765547542,1.03967851454
+384,6.400000000,pose2_to_pose3_retreat,0.580762086249,0.0100017541076,1.04004067993,0.55133380731,0.018676587752,1.0396784869
+385,6.416666667,pose2_to_pose3_retreat,0.580756351622,0.010001869073,1.04004080922,0.551328070932,0.0186766962348,1.03967860318
+386,6.433333333,pose2_to_pose3_retreat,0.580752393794,0.0100018811889,1.04004087101,0.551324112817,0.0186767071631,1.03967865978
+387,6.450000000,pose2_to_pose3_retreat,0.580749605445,0.0100017516366,1.04004084818,0.551321326166,0.0186765835917,1.03967864228
+388,6.466666667,pose2_to_pose3_retreat,0.580748018708,0.0100017002985,1.04004083076,0.55131974014,0.0186765347526,1.03967862696
+389,6.483333333,pose2_to_pose3_retreat,0.580747320025,0.010001741525,1.04004081048,0.551319041043,0.0186765745007,1.03967860494
+390,6.500000000,pose2_to_pose3_retreat,0.580746734605,0.0100017760683,1.04004079348,0.551318455276,0.0186766078054,1.03967858649
+391,6.516666667,pose2_to_pose3_retreat,0.580746531287,0.0100017880653,1.04004078758,0.551318251837,0.0186766193721,1.03967858008
+392,6.533333333,pose2_to_pose3_retreat,0.580746229955,0.0100018058457,1.04004077883,0.551317950327,0.0186766365149,1.03967857059
+393,6.550000000,pose2_to_pose3_retreat,0.580746204049,0.0100018073743,1.04004077808,0.551317924406,0.0186766379887,1.03967856977
+394,6.566666667,pose2_to_pose3_retreat,0.580745740619,0.0100018347195,1.04004076462,0.551317460701,0.0186766643533,1.03967855516
+395,6.583333333,pose2_to_pose3_retreat,0.580745452792,0.0100018517031,1.04004075627,0.551317172702,0.0186766807278,1.03967854609
+396,6.600000000,pose2_to_pose3_retreat,0.58074529932,0.010001846518,1.04004077008,0.551317019293,0.0186766757799,1.03967856048
+397,6.616666667,pose2_to_pose3_retreat,0.580745070847,0.0100018285963,1.04004080373,0.551316791024,0.018676658614,1.03967859567
+398,6.633333333,pose2_to_pose3_retreat,0.580745040321,0.0100018262018,1.04004080823,0.551316760525,0.0186766563205,1.03967860037
+399,6.650000000,pose2_to_pose3_retreat,0.580744573915,0.0100017896165,1.04004087693,0.551316294536,0.0186766212779,1.0396786722
+400,6.666666667,pose2_to_pose3_retreat,0.580744340057,0.0100017712725,1.04004091137,0.551316060887,0.0186766037073,1.03967870822
+401,6.683333333,pose2_to_pose3_retreat,0.580744295907,0.0100017678093,1.04004091787,0.551316016776,0.0186766003902,1.03967871502
+402,6.700000000,pose2_to_pose3_retreat,0.580744210103,0.0100017610787,1.04004093051,0.551315931048,0.0186765939434,1.03967872824
+403,6.716666667,pose2_to_pose3_retreat,0.580744022058,0.0100017765556,1.04004093742,0.551315742853,0.01867660887,1.03967873418
+404,6.733333333,pose2_to_pose3_retreat,0.580743853004,0.0100018396876,1.04004090979,0.551315573146,0.0186766695984,1.03967870206
+405,6.750000000,pose2_to_pose3_retreat,0.580743689201,0.0100019008588,1.04004088301,0.551315408709,0.0186767284407,1.03967867093
+406,6.766666667,pose2_to_pose3_retreat,0.580743598401,0.0100019403623,1.04004075531,0.551315317454,0.0186767665804,1.03967854762
+407,6.783333333,pose2_to_pose3_retreat,0.580743595082,0.0100019418439,1.04004074988,0.551315314117,0.0186767680116,1.0396785424
+408,6.800000000,pose2_to_pose3_retreat,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766

Part2/Obstacle_avoidance/ball_0030_15/position_10/depth_05/fem_node.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7baf5e29a62bb6ab093f02812d16939f9d90d1229dccc88ff45eb7a6391b44f
+size 25957431

Part2/Obstacle_avoidance/ball_0030_15/position_10/depth_05/simulation_data.csv

@@ -0,0 +1,410 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+1,0.016666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+2,0.033333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+3,0.050000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+4,0.066666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+5,0.083333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+6,0.100000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+7,0.116666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+8,0.133333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+9,0.150000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+10,0.166666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+11,0.183333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+12,0.200000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+13,0.216666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+14,0.233333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+15,0.250000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+16,0.266666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+17,0.283333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+18,0.300000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+19,0.316666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+20,0.333333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+21,0.350000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+22,0.366666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+23,0.383333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+24,0.400000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+25,0.416666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+26,0.433333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+27,0.450000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+28,0.466666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+29,0.483333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+30,0.500000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+31,0.516666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+32,0.533333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+33,0.550000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+34,0.566666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+35,0.583333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+36,0.600000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+37,0.616666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+38,0.633333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+39,0.650000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+40,0.666666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+41,0.683333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+42,0.700000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+43,0.716666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+44,0.733333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+45,0.750000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+46,0.766666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+47,0.783333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+48,0.800000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+49,0.816666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+50,0.833333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+51,0.850000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+52,0.866666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+53,0.883333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+54,0.900000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+55,0.916666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+56,0.933333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+57,0.950000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+58,0.966666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+59,0.983333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+60,1.000000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+61,1.016666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+62,1.033333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+63,1.050000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+64,1.066666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+65,1.083333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+66,1.100000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+67,1.116666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+68,1.133333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+69,1.150000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+70,1.166666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+71,1.183333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+72,1.200000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+73,1.216666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+74,1.233333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+75,1.250000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+76,1.266666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+77,1.283333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+78,1.300000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+79,1.316666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+80,1.333333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+81,1.350000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+82,1.366666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+83,1.383333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+84,1.400000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+85,1.416666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+86,1.433333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+87,1.450000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+88,1.466666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+89,1.483333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+90,1.500000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+91,1.516666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+92,1.533333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+93,1.550000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+94,1.566666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+95,1.583333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+96,1.600000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+97,1.616666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+98,1.633333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+99,1.650000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+100,1.666666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+101,1.683333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+102,1.700000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+103,1.716666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+104,1.733333333,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+105,1.750000000,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+106,1.766666667,pose1_baseline,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+107,1.783333333,pose1_to_pose2_press,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+108,1.800000000,pose1_to_pose2_press,0.580743783978,0.0100018753896,1.04004084726,0.551315503957,0.0186767048136,1.03967864108
+109,1.816666667,pose1_to_pose2_press,0.580744193551,0.0100017620636,1.04004085925,0.551315915143,0.0186765969181,1.03967865211
+110,1.833333333,pose1_to_pose2_press,0.580744609912,0.0100018093081,1.04004096405,0.551316330843,0.0186766418033,1.03967875411
+111,1.850000000,pose1_to_pose2_press,0.580745001043,0.0100018536898,1.0400410625,0.551316721353,0.0186766839686,1.03967884992
+112,1.866666667,pose1_to_pose2_press,0.580745386737,0.0100018825457,1.04004112163,0.551317106569,0.0186767111391,1.03967890749
+113,1.883333333,pose1_to_pose2_press,0.58074562351,0.0100018749665,1.04004109354,0.551317343278,0.0186767033739,1.03967888023
+114,1.900000000,pose1_to_pose2_press,0.58074579408,0.0100018695066,1.04004107331,0.5513175138,0.0186766977799,1.03967886059
+115,1.916666667,pose1_to_pose2_press,0.58074671541,0.0100018400149,1.04004096402,0.551318434878,0.0186766675642,1.03967875451
+116,1.933333333,pose1_to_pose2_press,0.58075102129,0.0100018506326,1.04004086267,0.551322741697,0.0186766813867,1.0396786535
+117,1.950000000,pose1_to_pose2_press,0.580760072815,0.0100017761505,1.04004085608,0.551331793441,0.0186766077424,1.03967864924
+118,1.966666667,pose1_to_pose2_press,0.580779294945,0.0100017934919,1.04004094416,0.551351016191,0.0186766274902,1.0396787445
+119,1.983333333,pose1_to_pose2_press,0.580809038092,0.0100018637015,1.04004099995,0.55138075774,0.0186766918313,1.03967878949
+120,2.000000000,pose1_to_pose2_press,0.580850243542,0.0100018379619,1.04004093121,0.5514219621,0.0186766625261,1.0396787238
+121,2.016666667,pose1_to_pose2_press,0.580901322905,0.0100018467743,1.04004073413,0.551473042264,0.0186766741053,1.03967852791
+122,2.033333333,pose1_to_pose2_press,0.580962436854,0.0100017408893,1.04004078919,0.551534157872,0.0186765743811,1.03967859566
+123,2.050000000,pose1_to_pose2_press,0.581028883611,0.0100017671686,1.04004073239,0.551600604055,0.0186765982829,1.03967852847
+124,2.066666667,pose1_to_pose2_press,0.58110034637,0.0100016886585,1.04004095612,0.551672067571,0.0186765221627,1.03967874786
+125,2.083333333,pose1_to_pose2_press,0.581179476812,0.0100017681086,1.04004085314,0.551751197312,0.0186765995709,1.03967865289
+126,2.100000000,pose1_to_pose2_press,0.581267684712,0.0100016981432,1.0400408386,0.551839406152,0.0186765326576,1.03967863506
+127,2.116666667,pose1_to_pose2_press,0.581368458019,0.0100017490806,1.04004087066,0.551940178559,0.0186765802802,1.03967866078
+128,2.133333333,pose1_to_pose2_press,0.581483846261,0.0100018523158,1.04004090601,0.552055565686,0.0186766798597,1.03967869925
+129,2.150000000,pose1_to_pose2_press,0.581615322748,0.010001908108,1.04004090986,0.552187041204,0.0186767325665,1.03967870786
+130,2.166666667,pose1_to_pose2_press,0.581763964142,0.0100019529834,1.04004089502,0.552335681163,0.0186767723815,1.03967868837
+131,2.183333333,pose1_to_pose2_press,0.581928570078,0.0100018604125,1.04004095319,0.552500290309,0.0186766907519,1.03967874775
+132,2.200000000,pose1_to_pose2_press,0.582109582896,0.0100018444499,1.04004091125,0.552681304041,0.0186766773684,1.0396786932
+133,2.216666667,pose1_to_pose2_press,0.582308501449,0.0100018408098,1.0400408433,0.552880221017,0.0186766689804,1.03967863972
+134,2.233333333,pose1_to_pose2_press,0.582529201458,0.0100019898059,1.04004094769,0.553100918651,0.0186768100339,1.03967874672
+135,2.250000000,pose1_to_pose2_press,0.582773913915,0.0100018733914,1.04004085598,0.553345633464,0.0186767014808,1.03967865186
+136,2.266666667,pose1_to_pose2_press,0.583043669787,0.0100018432095,1.04004085078,0.553615388444,0.0186766682157,1.03967864515
+137,2.283333333,pose1_to_pose2_press,0.583336125394,0.010001822842,1.04004096926,0.55390784585,0.0186766538558,1.03967876134
+138,2.300000000,pose1_to_pose2_press,0.583648617563,0.0100017879265,1.04004067109,0.554220336773,0.0186766147259,1.03967846344
+139,2.316666667,pose1_to_pose2_press,0.583980297106,0.0100018294653,1.04004089022,0.554552017754,0.0186766613709,1.03967868802
+140,2.333333333,pose1_to_pose2_press,0.584324737166,0.0100018954179,1.04004095532,0.5548964564,0.0186767225267,1.03967875303
+141,2.350000000,pose1_to_pose2_press,0.584679665611,0.0100018373178,1.04004098365,0.555251385213,0.0186766654203,1.03967877524
+142,2.366666667,pose1_to_pose2_press,0.585053097395,0.0100018904309,1.04004091429,0.555624816581,0.018676717128,1.03967870597
+143,2.383333333,pose1_to_pose2_press,0.585446008933,0.0100018749035,1.04004088765,0.556017728347,0.0186767026501,1.03967868587
+144,2.400000000,pose1_to_pose2_press,0.58585954905,0.0100017820788,1.04004082473,0.556431269289,0.0186766126521,1.03967862358
+145,2.416666667,pose1_to_pose2_press,0.586299348156,0.0100017894164,1.04004065055,0.55687106823,0.0186766191998,1.03967844381
+146,2.433333333,pose1_to_pose2_press,0.586774542831,0.0100017401909,1.04004071828,0.557346264056,0.018676574084,1.03967851645
+147,2.450000000,pose1_to_pose2_press,0.587277718653,0.010001783483,1.04004072175,0.55784943961,0.0186766163942,1.03967851813
+148,2.466666667,pose1_to_pose2_press,0.587807683605,0.0100019176786,1.04004073821,0.558379403607,0.018676747379,1.03967853529
+149,2.483333333,pose1_to_pose2_press,0.588357747968,0.0100018345541,1.04004082792,0.558929468933,0.01867666784,1.03967863254
+150,2.500000000,pose1_to_pose2_press,0.588922014817,0.0100020265568,1.04004107466,0.559493733199,0.0186768507439,1.03967887122
+151,2.516666667,pose1_to_pose2_press,0.58949077559,0.0100017661946,1.04004089712,0.560062496955,0.0186766001315,1.03967868479
+152,2.533333333,pose1_to_pose2_press,0.590072284692,0.0100016905661,1.04004073576,0.560644006413,0.0186765260899,1.03967853247
+153,2.550000000,pose1_to_pose2_press,0.590676534217,0.0100017943719,1.0400407992,0.5612482544,0.0186766247405,1.03967859742
+154,2.566666667,pose1_to_pose2_press,0.591306020031,0.0100018614188,1.04004077073,0.561877738074,0.018676684278,1.03967856292
+155,2.583333333,pose1_to_pose2_press,0.591961393295,0.0100019548723,1.04004088188,0.562533111744,0.0186767792309,1.03967867693
+156,2.600000000,pose1_to_pose2_press,0.592637946402,0.0100019611555,1.04004090546,0.56320966486,0.0186767854746,1.03967869885
+157,2.616666667,pose1_to_pose2_press,0.593328654551,0.010001883164,1.04004088575,0.563900373265,0.0186767086281,1.03967868572
+158,2.633333333,pose1_to_pose2_press,0.594031871208,0.01000193127,1.04004088132,0.564603589078,0.0186767539724,1.03967868373
+159,2.650000000,pose1_to_pose2_press,0.594749077245,0.0100019705128,1.04004076287,0.565320794945,0.0186767922608,1.03967855615
+160,2.666666667,pose1_to_pose2_press,0.595482049767,0.0100018388876,1.04004073436,0.566053769914,0.018676668874,1.03967852626
+161,2.683333333,pose1_to_pose2_press,0.596228180152,0.0100018587793,1.04004095556,0.566799899745,0.0186766869022,1.03967874779
+162,2.700000000,pose1_to_pose2_press,0.596983836411,0.0100019160805,1.04004081581,0.567555556682,0.0186767467409,1.0396786137
+163,2.716666667,pose1_to_pose2_press,0.597755494305,0.0100017916723,1.04004071352,0.568327212712,0.0186766156932,1.03967850386
+164,2.733333333,pose1_to_pose2_press,0.598539829954,0.0100017985777,1.040040472,0.569111549614,0.0186766273631,1.03967827468
+165,2.750000000,pose1_to_pose2_press,0.599335562526,0.0100018364724,1.04004086671,0.569907283347,0.0186766686769,1.03967865695
+166,2.766666667,pose1_to_pose2_press,0.6001438122,0.0100017663676,1.04004071569,0.570715533798,0.0186766016504,1.03967851658
+167,2.783333333,pose1_to_pose2_press,0.600961212148,0.0100017086196,1.04004068072,0.571532933089,0.0186765418264,1.03967848527
+168,2.800000000,pose1_to_pose2_press,0.601781654757,0.0100017033412,1.04004072304,0.572353376679,0.0186765394612,1.03967851768
+169,2.816666667,pose1_to_pose2_press,0.602603427686,0.0100017468819,1.04004091357,0.573175148602,0.018676579517,1.03967870645
+170,2.833333333,pose1_to_pose2_press,0.603421006752,0.0100018685669,1.04004117867,0.573992725577,0.018676693724,1.03967896245
+171,2.850000000,pose1_to_pose2_press,0.604238352208,0.0100019058511,1.04004094391,0.574810071514,0.0186767328419,1.03967873251
+172,2.866666667,pose1_to_pose2_press,0.605056490359,0.0100019799262,1.04004079703,0.575628208731,0.0186768039994,1.03967859168
+173,2.883333333,pose1_to_pose2_press,0.605875071199,0.0100019412647,1.04004095656,0.57644678944,0.0186767649315,1.03967875212
+174,2.900000000,pose1_to_pose2_press,0.606696808162,0.0100018168559,1.04004098584,0.577268528452,0.0186766475031,1.03967878219
+175,2.916666667,pose1_to_pose2_press,0.607516641145,0.0100018182919,1.04004091074,0.578088361772,0.0186766500968,1.03967870747
+176,2.933333333,pose1_to_pose2_press,0.608338091846,0.0100017721018,1.0400409825,0.578909812203,0.0186766030341,1.03967878031
+177,2.950000000,pose1_to_pose2_press,0.609165364393,0.0100017875086,1.04004072039,0.579737084193,0.0186766164788,1.03967851659
+178,2.966666667,pose1_to_pose2_press,0.609987065954,0.0100019938333,1.04004074374,0.580558781629,0.0186768087245,1.03967853787
+179,2.983333333,pose1_to_pose2_press,0.610800669977,0.0100018987253,1.04004087768,0.581372387528,0.0186767196513,1.03967866402
+180,3.000000000,pose1_to_pose2_press,0.611597137197,0.0100017273303,1.04004086489,0.582168859899,0.018676565951,1.03967865655
+181,3.016666667,pose1_to_pose2_press,0.612377546433,0.0100019591078,1.04004086325,0.582949264579,0.0186767822979,1.03967865558
+182,3.033333333,pose1_to_pose2_press,0.613156968537,0.0100020244277,1.04004083112,0.583728686704,0.0186768479644,1.03967863013
+183,3.050000000,pose1_to_pose2_press,0.613930138891,0.0100018567478,1.04004089607,0.584501859988,0.018676690472,1.03967870107
+184,3.066666667,pose1_to_pose2_press,0.614689918356,0.0100019553492,1.04004085406,0.585261637675,0.0186767828653,1.03967865488
+185,3.083333333,pose1_to_pose2_press,0.615446798557,0.0100018104792,1.04004074828,0.586018519151,0.0186766422729,1.03967854804
+186,3.100000000,pose1_to_pose2_press,0.616195112216,0.010001806455,1.04004070059,0.586766833105,0.0186766393384,1.0396785026
+187,3.116666667,pose1_to_pose2_press,0.616916678208,0.0100019439038,1.04004086422,0.587488397136,0.0186767699205,1.03967866112
+188,3.133333333,pose1_to_pose2_press,0.617619319658,0.0100019263453,1.04004085117,0.588191038991,0.0186767536068,1.03967864515
+189,3.150000000,pose1_to_pose2_press,0.618312212742,0.0100018505868,1.04004078698,0.588883932731,0.0186766800475,1.03967858045
+190,3.166666667,pose1_to_pose2_press,0.61898924381,0.0100018618273,1.04004082874,0.589560963483,0.018676690407,1.03967862683
+191,3.183333333,pose1_to_pose2_press,0.619643027314,0.0100018195773,1.0400408088,0.590214748516,0.0186766535266,1.03967861122
+192,3.200000000,pose1_to_pose2_press,0.620276511255,0.010001768077,1.04004087323,0.590848232335,0.0186766010592,1.0396786625
+193,3.216666667,pose1_to_pose2_press,0.620889606925,0.0100018841058,1.04004093157,0.591461325487,0.0186767085126,1.03967871987
+194,3.233333333,pose1_to_pose2_press,0.621481467137,0.0100017871634,1.04004100178,0.592053188688,0.0186766224388,1.03967880619
+195,3.250000000,pose1_to_pose2_press,0.622059880573,0.0100017729277,1.04004082915,0.592631601399,0.0186766056557,1.03967862959
+196,3.266666667,pose1_to_pose2_press,0.622625836691,0.0100019086811,1.04004096434,0.593197555823,0.0186767353965,1.03967875696
+197,3.283333333,pose1_to_pose2_press,0.623167120498,0.0100017194439,1.0400407623,0.593738841443,0.0186765521644,1.03967855055
+198,3.300000000,pose1_to_pose2_press,0.623678754602,0.010001755124,1.04004094325,0.5942504755,0.01867658808,1.03967874067
+199,3.316666667,pose1_to_pose2_press,0.624159262012,0.0100017912164,1.04004086502,0.594730981591,0.0186766195258,1.03967865869
+200,3.333333333,pose1_to_pose2_press,0.624614445039,0.0100018149317,1.04004095701,0.59518616461,0.0186766431048,1.03967874838
+201,3.350000000,pose1_to_pose2_press,0.625049732584,0.0100016668004,1.04004090811,0.595621454927,0.018676504327,1.0396786988
+202,3.366666667,pose1_to_pose2_press,0.625471450163,0.0100016410286,1.04004076865,0.596043173003,0.0186764805227,1.03967856618
+203,3.383333333,pose1_to_pose2_press,0.625880923768,0.0100017045481,1.04004094736,0.596452646254,0.0186765425771,1.0396787387
+204,3.400000000,pose1_to_pose2_press,0.626268117932,0.0100017709981,1.04004098633,0.596839838888,0.0186766037529,1.03967877549
+205,3.416666667,pose1_to_pose2_press,0.626630533333,0.0100018055779,1.04004091238,0.597202253124,0.0186766345441,1.03967870537
+206,3.433333333,pose1_to_pose2_press,0.626960756224,0.010001785501,1.04004092744,0.597532476839,0.0186766172936,1.03967872111
+207,3.450000000,pose1_to_pose2_press,0.627261931631,0.0100017910176,1.04004084758,0.597833652472,0.0186766236623,1.03967864307
+208,3.466666667,pose1_to_pose2_press,0.62753714231,0.0100018984402,1.0400409096,0.598108861595,0.0186767255467,1.03967869932
+209,3.483333333,pose1_to_pose2_press,0.627796846952,0.0100019747703,1.04004111037,0.598368564943,0.0186767976238,1.03967890299
+210,3.500000000,pose1_to_pose2_press,0.628043867013,0.0100018190963,1.0400407338,0.598615586532,0.0186766475375,1.03967853507
+211,3.516666667,pose1_to_pose2_press,0.628281091077,0.0100018543107,1.04004088777,0.598852809777,0.0186766799985,1.03967869011
+212,3.533333333,pose1_to_pose2_press,0.628506248706,0.0100018452849,1.0400408616,0.599077969599,0.0186766781963,1.03967865884
+213,3.550000000,pose1_to_pose2_press,0.628713828062,0.0100017982292,1.04004096974,0.599285549729,0.018676633409,1.0396787578
+214,3.566666667,pose1_to_pose2_press,0.628901966623,0.0100018959771,1.04004081609,0.599473686501,0.018676725183,1.03967860703
+215,3.583333333,pose1_to_pose2_press,0.629067914267,0.0100018573847,1.0400408277,0.599639633844,0.0186766855181,1.03967861784
+216,3.600000000,pose1_to_pose2_press,0.629216514183,0.0100017459033,1.04004095481,0.599788235291,0.0186765790769,1.03967874198
+217,3.616666667,pose1_to_pose2_press,0.629348589729,0.0100018298833,1.04004085079,0.599920309155,0.0186766576655,1.03967864619
+218,3.633333333,pose1_to_pose2_press,0.629465077339,0.010001987753,1.04004081415,0.600036795326,0.0186768107993,1.03967861312
+219,3.650000000,pose1_to_pose2_press,0.629568002517,0.0100019952105,1.04004090369,0.600139721739,0.0186768221857,1.03967869586
+220,3.666666667,pose1_to_pose2_press,0.629658586644,0.0100018804712,1.04004074058,0.600230305733,0.0186767069864,1.03967853232
+221,3.683333333,pose1_to_pose2_press,0.629738449068,0.0100017305063,1.04004082475,0.600310170552,0.0186765648521,1.03967861047
+222,3.700000000,pose1_to_pose2_press,0.629807413017,0.0100018384358,1.0400410478,0.600379133467,0.0186766697828,1.03967884645
+223,3.716666667,pose1_to_pose2_press,0.629867161823,0.0100018829256,1.04004083572,0.600438878774,0.0186767024813,1.0396786326
+224,3.733333333,pose1_to_pose2_press,0.629917773927,0.0100018131752,1.04004074231,0.600489493155,0.0186766402191,1.03967853536
+225,3.750000000,pose1_to_pose2_press,0.629958445906,0.0100019962849,1.04004111195,0.600530164139,0.0186768198096,1.03967889825
+226,3.766666667,pose1_to_pose2_press,0.629990489365,0.0100018935311,1.04004076373,0.600562209052,0.0186767224179,1.03967856054
+227,3.783333333,pose1_to_pose2_press,0.630014923243,0.0100019290743,1.04004068391,0.60058664201,0.0186767550433,1.03967848626
+228,3.800000000,pose1_to_pose2_press,0.630033606832,0.0100018887906,1.04004078144,0.60060532643,0.0186767174461,1.03967858177
+229,3.816666667,pose1_to_pose2_press,0.630046994276,0.010001792282,1.04004072728,0.600618715332,0.018676625858,1.03967852611
+230,3.833333333,pose1_to_pose2_press,0.630057303385,0.0100017198193,1.04004062603,0.600629024694,0.0186765542063,1.03967842239
+231,3.850000000,pose1_to_pose2_press,0.630064926961,0.0100017678689,1.04004075647,0.600636645334,0.0186765918125,1.03967854353
+232,3.866666667,pose1_to_pose2_press,0.630070382352,0.0100017408385,1.04004066233,0.600642103267,0.0186765735656,1.03967845219
+233,3.883333333,pose1_to_pose2_press,0.630074139167,0.0100018210245,1.0400407247,0.600645859453,0.0186766517543,1.0396785178
+234,3.900000000,pose1_to_pose2_press,0.630076416052,0.0100019245319,1.04004083792,0.60064813441,0.0186767488077,1.03967863335
+235,3.916666667,pose1_to_pose2_press,0.630077935204,0.0100018055929,1.04004067653,0.600649654652,0.0186766336065,1.03967847277
+236,3.933333333,pose1_to_pose2_press,0.630078871359,0.0100017628398,1.04004067083,0.600650591291,0.0186765925705,1.03967846886
+237,3.950000000,pose1_to_pose2_press,0.630079218339,0.0100017827933,1.04004077861,0.60065093823,0.0186766124732,1.03967857883
+238,3.966666667,pose1_to_pose2_press,0.630079317062,0.0100017884705,1.04004080927,0.600651036941,0.018676618136,1.03967861012
+239,3.983333333,pose1_to_pose2_press,0.630079403129,0.0100017934198,1.040040836,0.600651122997,0.0186766230727,1.0396786374
+240,4.000000000,pose1_to_pose2_press,0.630079437303,0.0100017953851,1.04004084662,0.600651157167,0.018676625033,1.03967864823
+241,4.016666667,pose1_to_pose2_press,0.630079467043,0.0100017970953,1.04004085586,0.600651186904,0.0186766267389,1.03967865765
+242,4.033333333,pose1_to_pose2_press,0.630079521662,0.0100018002362,1.04004087282,0.600651241516,0.0186766298718,1.03967867496
+243,4.050000000,pose1_to_pose2_press,0.630079663628,0.0100018084001,1.04004091692,0.600651383465,0.0186766380149,1.03967871996
+244,4.066666667,pose1_to_pose2_press,0.630079921386,0.0100018566067,1.0400408901,0.600651640395,0.0186766832222,1.0396786885
+245,4.083333333,pose1_to_pose2_press,0.630080169571,0.0100019055942,1.04004085324,0.600651887742,0.0186767291591,1.03967864654
+246,4.100000000,pose1_to_pose2_press,0.63008019531,0.0100018484793,1.04004086039,0.600651916313,0.0186766816501,1.0396786542
+247,4.116666667,pose2_hold,0.63008019531,0.0100018484793,1.04004086039,0.60065191634,0.0186766816453,1.03967865421
+248,4.133333333,pose2_hold,0.63008019531,0.0100018484793,1.04004086039,0.600651916341,0.0186766816452,1.03967865421
+249,4.150000000,pose2_hold,0.63008019531,0.0100018484793,1.04004086039,0.600651916342,0.018676681644,1.03967865421
+250,4.166666667,pose2_hold,0.63008019531,0.0100018484793,1.04004086039,0.600651916342,0.018676681644,1.03967865421
+251,4.183333333,pose2_hold,0.63008019531,0.0100018484793,1.04004086039,0.600651916343,0.0186766816436,1.03967865421
+252,4.200000000,pose2_hold,0.63008019531,0.0100018484793,1.04004086039,0.600651916343,0.0186766816438,1.03967865421
+253,4.216666667,pose2_hold,0.63008019531,0.0100018484793,1.04004086039,0.600651916343,0.0186766816437,1.03967865421
+254,4.233333333,pose2_hold,0.63008019531,0.0100018484793,1.04004086039,0.600651916344,0.018676681643,1.03967865421
+255,4.250000000,pose2_hold,0.63008019531,0.0100018484793,1.04004086039,0.600651916344,0.0186766816431,1.03967865421
+256,4.266666667,pose2_hold,0.63008019531,0.0100018484793,1.04004086039,0.600651916345,0.018676681643,1.03967865421
+257,4.283333333,pose2_hold,0.63008019531,0.0100018484793,1.04004086039,0.600651916345,0.0186766816429,1.03967865421
+258,4.300000000,pose2_hold,0.63008019531,0.0100018484793,1.04004086039,0.600651916345,0.0186766816429,1.03967865421
+259,4.316666667,pose2_hold,0.63008019531,0.0100018484793,1.04004086039,0.600651916346,0.0186766816432,1.03967865421
+260,4.333333333,pose2_hold,0.63008019531,0.0100018484793,1.04004086039,0.600651916346,0.0186766816429,1.03967865421
+261,4.350000000,pose2_hold,0.63008019531,0.0100018484793,1.04004086039,0.600651916346,0.0186766816427,1.03967865421
+262,4.366666667,pose2_hold,0.63008019531,0.0100018484793,1.04004086039,0.600651916347,0.0186766816427,1.03967865421
+263,4.383333333,pose2_hold,0.63008019531,0.0100018484793,1.04004086039,0.600651916347,0.0186766816428,1.03967865421
+264,4.400000000,pose2_hold,0.63008019531,0.0100018484793,1.04004086039,0.600651916347,0.0186766816425,1.03967865421
+265,4.416666667,pose2_to_pose3_retreat,0.63008019531,0.0100018484793,1.04004086039,0.600651916348,0.0186766816425,1.03967865421
+266,4.433333333,pose2_to_pose3_retreat,0.630080191679,0.010001851468,1.04004085897,0.600651912612,0.0186766842854,1.039678653
+267,4.450000000,pose2_to_pose3_retreat,0.630080090237,0.0100019098051,1.04004083445,0.600651808876,0.0186767350357,1.03967863315
+268,4.466666667,pose2_to_pose3_retreat,0.630079710382,0.0100017428068,1.04004096729,0.600651430695,0.0186765734662,1.03967876019
+269,4.483333333,pose2_to_pose3_retreat,0.630079393135,0.0100017724584,1.04004093611,0.600651113011,0.0186766015892,1.03967872793
+270,4.500000000,pose2_to_pose3_retreat,0.630079380799,0.0100017736114,1.0400409349,0.600651100658,0.0186766026828,1.03967872667
+271,4.516666667,pose2_to_pose3_retreat,0.630078655903,0.0100018309094,1.04004086756,0.600650374957,0.0186766571695,1.03967865746
+272,4.533333333,pose2_to_pose3_retreat,0.630075831054,0.0100018418129,1.04004072158,0.600647550823,0.018676670758,1.03967851747
+273,4.550000000,pose2_to_pose3_retreat,0.630068770903,0.0100018523244,1.04004070592,0.600640490726,0.0186766816208,1.03967850589
+274,4.566666667,pose2_to_pose3_retreat,0.630054425618,0.0100018971152,1.04004102819,0.600626144445,0.0186767230697,1.03967882914
+275,4.583333333,pose2_to_pose3_retreat,0.630030734673,0.0100018359444,1.0400408603,0.600602455237,0.0186766674039,1.03967865196
+276,4.600000000,pose2_to_pose3_retreat,0.62999622053,0.0100019291994,1.04004085181,0.600567938931,0.0186767534059,1.0396786453
+277,4.616666667,pose2_to_pose3_retreat,0.629951709278,0.0100017737285,1.04004074992,0.600523429259,0.0186766032087,1.03967854247
+278,4.633333333,pose2_to_pose3_retreat,0.629897434424,0.010001852856,1.04004093523,0.600469153532,0.0186766796919,1.03967873665
+279,4.650000000,pose2_to_pose3_retreat,0.629835908374,0.0100017672004,1.04004074294,0.600407628729,0.0186765977871,1.03967853419
+280,4.666666667,pose2_to_pose3_retreat,0.629767615869,0.0100017417963,1.04004095589,0.600339337125,0.0186765756493,1.03967875028
+281,4.683333333,pose2_to_pose3_retreat,0.629691647139,0.010001920906,1.04004088764,0.600263365412,0.0186767445695,1.03967867872
+282,4.700000000,pose2_to_pose3_retreat,0.629607152515,0.0100019584687,1.04004086527,0.600178869955,0.0186767792034,1.03967865551
+283,4.716666667,pose2_to_pose3_retreat,0.629510865571,0.0100019103802,1.04004085054,0.6000825839,0.0186767342445,1.03967864445
+284,4.733333333,pose2_to_pose3_retreat,0.629402771856,0.010001857645,1.0400408391,0.599974491144,0.0186766848822,1.039678636
+285,4.750000000,pose2_to_pose3_retreat,0.629280267585,0.0100018316971,1.04004080031,0.599851987416,0.0186766608029,1.03967859838
+286,4.766666667,pose2_to_pose3_retreat,0.629141936377,0.0100018075043,1.04004073691,0.59971365744,0.0186766409214,1.03967853818
+287,4.783333333,pose2_to_pose3_retreat,0.628986214336,0.0100018341591,1.04004109231,0.599557936014,0.0186766692609,1.03967888305
+288,4.800000000,pose2_to_pose3_retreat,0.628811399547,0.0100017507202,1.04004087086,0.599383122154,0.0186765891395,1.03967866603
+289,4.816666667,pose2_to_pose3_retreat,0.628617815619,0.0100017778874,1.04004086708,0.599189535872,0.0186766081079,1.03967865728
+290,4.833333333,pose2_to_pose3_retreat,0.628405854643,0.0100017754392,1.04004103942,0.598977575161,0.0186766064251,1.03967882624
+291,4.850000000,pose2_to_pose3_retreat,0.628175242398,0.01000182788,1.04004096908,0.598746962563,0.0186766578308,1.03967876007
+292,4.866666667,pose2_to_pose3_retreat,0.627923233925,0.0100018549421,1.04004082745,0.598494953857,0.0186766844508,1.03967862713
+293,4.883333333,pose2_to_pose3_retreat,0.627651459712,0.0100017973584,1.04004080733,0.598223180163,0.0186766288106,1.03967861148
+294,4.900000000,pose2_to_pose3_retreat,0.627359462388,0.0100017326588,1.04004079049,0.597931183285,0.0186765654955,1.03967859145
+295,4.916666667,pose2_to_pose3_retreat,0.627048280458,0.0100017396563,1.0400407691,0.597620002294,0.0186765754965,1.03967856562
+296,4.933333333,pose2_to_pose3_retreat,0.626720276431,0.0100018272464,1.04004109833,0.597291996087,0.0186766554562,1.03967888928
+297,4.950000000,pose2_to_pose3_retreat,0.626374674246,0.0100019326407,1.04004086238,0.596946394299,0.0186767624329,1.0396786593
+298,4.966666667,pose2_to_pose3_retreat,0.626008781998,0.0100019189648,1.04004100558,0.596580501179,0.0186767459589,1.03967880627
+299,4.983333333,pose2_to_pose3_retreat,0.6256186605,0.0100018991654,1.04004100182,0.596190379494,0.0186767253786,1.03967879901
+300,5.000000000,pose2_to_pose3_retreat,0.625199040151,0.0100018786327,1.04004083956,0.595770760326,0.0186767087836,1.03967863504
+301,5.016666667,pose2_to_pose3_retreat,0.624749392867,0.0100018259243,1.04004075758,0.595321113109,0.0186766565198,1.03967855809
+302,5.033333333,pose2_to_pose3_retreat,0.624265202697,0.0100017976928,1.04004084958,0.594836922541,0.0186766271079,1.03967865432
+303,5.050000000,pose2_to_pose3_retreat,0.623753556399,0.0100018044865,1.04004091729,0.594325277593,0.0186766382025,1.03967871561
+304,5.066666667,pose2_to_pose3_retreat,0.623220227792,0.0100017319834,1.04004084547,0.59379194836,0.0186765632154,1.03967863531
+305,5.083333333,pose2_to_pose3_retreat,0.622670166461,0.0100017527821,1.04004074603,0.593241886345,0.0186765818692,1.0396785403
+306,5.100000000,pose2_to_pose3_retreat,0.622104600536,0.0100016886056,1.04004085639,0.592676322265,0.0186765240665,1.03967865342
+307,5.116666667,pose2_to_pose3_retreat,0.621519408288,0.0100017251526,1.0400409762,0.592091128868,0.0186765564594,1.03967876592
+308,5.133333333,pose2_to_pose3_retreat,0.620912050756,0.0100018232396,1.04004077916,0.591483769522,0.0186766484054,1.0396785696
+309,5.150000000,pose2_to_pose3_retreat,0.620277666531,0.0100017168639,1.04004071508,0.590849387423,0.0186765495019,1.03967851104
+310,5.166666667,pose2_to_pose3_retreat,0.619621018858,0.0100019425545,1.04004080159,0.590192737968,0.0186767691678,1.03967859822
+311,5.183333333,pose2_to_pose3_retreat,0.618945981201,0.0100019952984,1.04004093612,0.589517698907,0.0186768169185,1.03967872823
+312,5.200000000,pose2_to_pose3_retreat,0.618260578655,0.0100019311848,1.04004090952,0.588832296792,0.0186767542655,1.03967870186
+313,5.216666667,pose2_to_pose3_retreat,0.617564694829,0.0100018190291,1.04004089489,0.588136414648,0.0186766479342,1.03967869019
+314,5.233333333,pose2_to_pose3_retreat,0.616845227472,0.010001775226,1.04004088346,0.587416948222,0.0186766072192,1.03967867738
+315,5.250000000,pose2_to_pose3_retreat,0.61610186338,0.0100018601344,1.04004083219,0.586673583396,0.0186766896168,1.03967862554
+316,5.266666667,pose2_to_pose3_retreat,0.615336322533,0.0100018202714,1.04004098701,0.585908042312,0.0186766493837,1.03967879026
+317,5.283333333,pose2_to_pose3_retreat,0.614551606008,0.0100018162836,1.04004068682,0.58512332471,0.0186766417519,1.03967848887
+318,5.300000000,pose2_to_pose3_retreat,0.613747511785,0.0100018452854,1.04004061164,0.584319231827,0.0186766749327,1.03967840797
+319,5.316666667,pose2_to_pose3_retreat,0.612943031473,0.0100018367562,1.04004073093,0.58351475017,0.0186766617947,1.03967852356
+320,5.333333333,pose2_to_pose3_retreat,0.612136767749,0.0100018816695,1.04004081416,0.582708486046,0.0186767056962,1.03967861487
+321,5.350000000,pose2_to_pose3_retreat,0.611324486218,0.0100018205131,1.0400408879,0.581896206263,0.0186766507869,1.03967869627
+322,5.366666667,pose2_to_pose3_retreat,0.610506383829,0.0100019146073,1.0400409387,0.581078102523,0.0186767400136,1.03967874131
+323,5.383333333,pose2_to_pose3_retreat,0.609679751233,0.010001885079,1.04004081781,0.580251469445,0.018676708547,1.03967861352
+324,5.400000000,pose2_to_pose3_retreat,0.608843649193,0.0100018183431,1.04004076886,0.579415368195,0.0186766448113,1.03967856881
+325,5.416666667,pose2_to_pose3_retreat,0.607997958921,0.0100018277159,1.0400408801,0.578569679018,0.0186766579332,1.03967868067
+326,5.433333333,pose2_to_pose3_retreat,0.607143462012,0.0100018703968,1.04004097777,0.577715182291,0.0186767007941,1.03967877133
+327,5.450000000,pose2_to_pose3_retreat,0.606283711913,0.0100018630922,1.04004093591,0.576855431619,0.0186766915843,1.0396787303
+328,5.466666667,pose2_to_pose3_retreat,0.605422393682,0.0100018007158,1.0400408157,0.575994114399,0.0186766327793,1.03967861341
+329,5.483333333,pose2_to_pose3_retreat,0.604568072789,0.0100017460152,1.04004071518,0.575139794628,0.0186765819811,1.03967851511
+330,5.500000000,pose2_to_pose3_retreat,0.603728928921,0.0100016757652,1.04004083173,0.574300650281,0.0186765099539,1.03967862797
+331,5.516666667,pose2_to_pose3_retreat,0.602896269242,0.010001886944,1.04004061415,0.573467989063,0.0186767160557,1.03967841383
+332,5.533333333,pose2_to_pose3_retreat,0.602068630957,0.0100017672551,1.04004062356,0.572640352123,0.0186766006828,1.03967841729
+333,5.550000000,pose2_to_pose3_retreat,0.60124375423,0.0100017687257,1.04004093887,0.571815475169,0.0186766014907,1.03967873516
+334,5.566666667,pose2_to_pose3_retreat,0.600415922456,0.0100018117052,1.04004102262,0.57098764254,0.0186766414398,1.03967881399
+335,5.583333333,pose2_to_pose3_retreat,0.599583576888,0.0100018875454,1.04004096642,0.57015529641,0.0186767155769,1.03967876109
+336,5.600000000,pose2_to_pose3_retreat,0.598751859781,0.0100019301792,1.04004101901,0.569323579219,0.0186767580398,1.03967881586
+337,5.616666667,pose2_to_pose3_retreat,0.597921339719,0.0100018848256,1.04004112009,0.568493059826,0.0186767146294,1.03967890905
+338,5.633333333,pose2_to_pose3_retreat,0.597113596928,0.0100018549872,1.04004112106,0.567685317569,0.0186766865583,1.03967890895
+339,5.650000000,pose2_to_pose3_retreat,0.596328960093,0.0100019051273,1.0400410359,0.566900679738,0.018676733543,1.03967882918
+340,5.666666667,pose2_to_pose3_retreat,0.595567048992,0.0100019040956,1.04004085587,0.566138767848,0.0186767298192,1.03967864875
+341,5.683333333,pose2_to_pose3_retreat,0.594823929774,0.010001886045,1.04004082852,0.565395648666,0.0186767122022,1.03967862885
+342,5.700000000,pose2_to_pose3_retreat,0.594093819491,0.0100018405354,1.04004086294,0.564665539152,0.0186766689178,1.03967865403
+343,5.716666667,pose2_to_pose3_retreat,0.593370922766,0.0100018840717,1.04004086489,0.563942640928,0.01867670736,1.03967865577
+344,5.733333333,pose2_to_pose3_retreat,0.592656409047,0.0100017678348,1.0400409308,0.563228129195,0.0186765980757,1.03967872686
+345,5.750000000,pose2_to_pose3_retreat,0.591956299771,0.010001813695,1.0400409512,0.562528018567,0.0186766394579,1.03967874981
+346,5.766666667,pose2_to_pose3_retreat,0.591276928996,0.0100018026448,1.04004092228,0.56184864863,0.0186766308763,1.03967871188
+347,5.783333333,pose2_to_pose3_retreat,0.59062491535,0.0100017708563,1.04004087696,0.561196635986,0.0186766024551,1.0396786658
+348,5.800000000,pose2_to_pose3_retreat,0.589992755171,0.0100017747744,1.04004086036,0.560564475516,0.0186766054884,1.03967865332
+349,5.816666667,pose2_to_pose3_retreat,0.589379678027,0.0100018066811,1.04004085227,0.559951397963,0.0186766360085,1.03967864732
+350,5.833333333,pose2_to_pose3_retreat,0.588788864974,0.0100018588385,1.04004085085,0.559360584158,0.018676685874,1.03967865169
+351,5.850000000,pose2_to_pose3_retreat,0.588223678518,0.0100018434252,1.04004093895,0.558795397155,0.0186766685048,1.03967873735
+352,5.866666667,pose2_to_pose3_retreat,0.587688255914,0.0100018285023,1.04004083897,0.558259975678,0.018676657364,1.03967863639
+353,5.883333333,pose2_to_pose3_retreat,0.58717583039,0.0100020028568,1.04004082856,0.557747547344,0.0186768222934,1.03967862853
+354,5.900000000,pose2_to_pose3_retreat,0.58668051329,0.0100018496557,1.04004070362,0.557252231943,0.0186766750822,1.03967850894
+355,5.916666667,pose2_to_pose3_retreat,0.586194559399,0.0100018535219,1.04004096945,0.556766279335,0.0186766831333,1.03967877065
+356,5.933333333,pose2_to_pose3_retreat,0.585718386023,0.0100019029829,1.04004089478,0.556290105587,0.0186767312981,1.03967869503
+357,5.950000000,pose2_to_pose3_retreat,0.585265676538,0.0100018782812,1.04004086155,0.555837395887,0.018676705533,1.0396786532
+358,5.966666667,pose2_to_pose3_retreat,0.584841553468,0.0100018152058,1.04004092625,0.555413274525,0.0186766483785,1.03967872107
+359,5.983333333,pose2_to_pose3_retreat,0.584457520823,0.010001843692,1.04004094098,0.55502924152,0.018676675974,1.03967874405
+360,6.000000000,pose2_to_pose3_retreat,0.584107310776,0.0100018268796,1.04004095875,0.554679031144,0.0186766578245,1.03967875694
+361,6.016666667,pose2_to_pose3_retreat,0.583788483784,0.0100017668843,1.04004100978,0.554360205118,0.0186766008747,1.03967880263
+362,6.033333333,pose2_to_pose3_retreat,0.583484104527,0.0100018662726,1.04004098501,0.554055824625,0.0186766968454,1.0396787958
+363,6.050000000,pose2_to_pose3_retreat,0.583191690488,0.0100017262468,1.04004070281,0.553763411598,0.0186765598512,1.03967850396
+364,6.066666667,pose2_to_pose3_retreat,0.582909863532,0.0100016466164,1.04004083431,0.553481586283,0.0186764855412,1.03967863001
+365,6.083333333,pose2_to_pose3_retreat,0.582640501509,0.0100017821734,1.04004084137,0.553212220832,0.0186766094469,1.03967863623
+366,6.100000000,pose2_to_pose3_retreat,0.58238729641,0.0100017597794,1.04004093343,0.552959016435,0.0186765895976,1.03967873222
+367,6.116666667,pose2_to_pose3_retreat,0.582156882518,0.0100017850361,1.04004097252,0.552728602672,0.0186766150746,1.03967876615
+368,6.133333333,pose2_to_pose3_retreat,0.581953050274,0.0100018705508,1.04004065218,0.552524769047,0.0186766961024,1.03967845075
+369,6.150000000,pose2_to_pose3_retreat,0.581773718184,0.0100018284876,1.04004059299,0.552345436867,0.0186766536951,1.03967839054
+370,6.166666667,pose2_to_pose3_retreat,0.581617595372,0.0100017616726,1.04004087681,0.552189315651,0.0186765920283,1.03967866802
+371,6.183333333,pose2_to_pose3_retreat,0.58148424126,0.0100017975563,1.04004105325,0.552055961602,0.0186766281114,1.03967884422
+372,6.200000000,pose2_to_pose3_retreat,0.581367880482,0.0100017542815,1.04004099475,0.55193960128,0.018676586418,1.0396787865
+373,6.216666667,pose2_to_pose3_retreat,0.581265529529,0.0100017201339,1.04004089782,0.551837250381,0.0186765524441,1.03967869005
+374,6.233333333,pose2_to_pose3_retreat,0.581173928527,0.0100018740325,1.04004094689,0.551745647464,0.0186766999157,1.03967874216
+375,6.250000000,pose2_to_pose3_retreat,0.581092560799,0.0100018193693,1.04004086161,0.551664282371,0.0186766542019,1.03967865582
+376,6.266666667,pose2_to_pose3_retreat,0.581021025957,0.01000180617,1.04004083659,0.551592746264,0.0186766367772,1.03967863215
+377,6.283333333,pose2_to_pose3_retreat,0.580959317395,0.0100016977381,1.04004074362,0.551531037924,0.0186765290482,1.03967853795
+378,6.300000000,pose2_to_pose3_retreat,0.580909089223,0.0100017251841,1.04004079557,0.551480809429,0.018676555696,1.03967859694
+379,6.316666667,pose2_to_pose3_retreat,0.580868807922,0.0100018513746,1.04004066914,0.551440526261,0.0186766754555,1.03967846815
+380,6.333333333,pose2_to_pose3_retreat,0.580838113868,0.0100018682995,1.04004059844,0.551409832503,0.0186766932709,1.03967839467
+381,6.350000000,pose2_to_pose3_retreat,0.580813389226,0.010001795069,1.04004062753,0.551385109474,0.0186766255889,1.0396784256
+382,6.366666667,pose2_to_pose3_retreat,0.580793794051,0.0100017397803,1.04004072667,0.55136551495,0.0186765727059,1.03967852951
+383,6.383333333,pose2_to_pose3_retreat,0.580778573063,0.0100019355246,1.04004106577,0.55135029132,0.0186767590433,1.03967885795
+384,6.400000000,pose2_to_pose3_retreat,0.580766902018,0.0100019093788,1.04004104039,0.55133862031,0.0186767327942,1.03967882728
+385,6.416666667,pose2_to_pose3_retreat,0.580758380462,0.0100018716049,1.04004091772,0.551330099324,0.0186766971596,1.03967870953
+386,6.433333333,pose2_to_pose3_retreat,0.580752784991,0.0100018692377,1.04004083816,0.551324504105,0.0186766958799,1.03967863554
+387,6.450000000,pose2_to_pose3_retreat,0.580749949975,0.0100018901569,1.04004083353,0.55132166894,0.0186767163289,1.03967863179
+388,6.466666667,pose2_to_pose3_retreat,0.580747849334,0.0100018787116,1.04004089315,0.551319568998,0.0186767070663,1.03967868689
+389,6.483333333,pose2_to_pose3_retreat,0.580746416752,0.010001849942,1.04004098284,0.551318137521,0.0186766817543,1.0396787695
+390,6.500000000,pose2_to_pose3_retreat,0.580745885389,0.010001839271,1.04004101611,0.551317606568,0.0186766723658,1.03967880014
+391,6.516666667,pose2_to_pose3_retreat,0.580745659827,0.0100018298915,1.04004100841,0.551317381216,0.0186766637172,1.03967879294
+392,6.533333333,pose2_to_pose3_retreat,0.580745338942,0.0100018114128,1.04004097435,0.551317060666,0.0186766464758,1.0396787613
+393,6.550000000,pose2_to_pose3_retreat,0.580745290762,0.0100018086382,1.04004096924,0.551317012536,0.0186766438871,1.03967875655
+394,6.566666667,pose2_to_pose3_retreat,0.580744956269,0.0100017893759,1.04004093373,0.551316678393,0.0186766259145,1.03967872357
+395,6.583333333,pose2_to_pose3_retreat,0.580744938733,0.010001788366,1.04004093187,0.551316660876,0.0186766249723,1.03967872184
+396,6.600000000,pose2_to_pose3_retreat,0.580744785645,0.0100017795502,1.04004091562,0.551316507948,0.0186766167468,1.03967870675
+397,6.616666667,pose2_to_pose3_retreat,0.580744758254,0.0100017779729,1.04004091271,0.551316480586,0.018676615275,1.03967870405
+398,6.633333333,pose2_to_pose3_retreat,0.580744714853,0.0100017754735,1.0400409081,0.55131643723,0.0186766129431,1.03967869977
+399,6.650000000,pose2_to_pose3_retreat,0.580744597885,0.0100017687377,1.04004089569,0.551316320384,0.0186766066583,1.03967868824
+400,6.666666667,pose2_to_pose3_retreat,0.580744408584,0.0100017578365,1.0400408756,0.551316131281,0.018676596487,1.03967866957
+401,6.683333333,pose2_to_pose3_retreat,0.580744221679,0.0100017470733,1.04004085576,0.551315944571,0.0186765864444,1.03967865114
+402,6.700000000,pose2_to_pose3_retreat,0.580744178572,0.0100017481524,1.04004085319,0.551315901411,0.0186765873453,1.03967864871
+403,6.716666667,pose2_to_pose3_retreat,0.580744024829,0.010001759055,1.04004084802,0.551315747277,0.0186765969299,1.03967864363
+404,6.733333333,pose2_to_pose3_retreat,0.580743846049,0.010001771733,1.040040842,0.551315568045,0.0186766080752,1.03967863772
+405,6.750000000,pose2_to_pose3_retreat,0.580743742483,0.0100017790773,1.04004083852,0.551315464216,0.0186766145316,1.0396786343
+406,6.766666667,pose2_to_pose3_retreat,0.580743736266,0.0100017795182,1.04004083831,0.551315457983,0.0186766149192,1.03967863409
+407,6.783333333,pose2_to_pose3_retreat,0.580743638378,0.0100018462175,1.04004079717,0.551315358946,0.018676677679,1.03967859195
+408,6.800000000,pose2_to_pose3_retreat,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720532,1.03967852766

Part2/Obstacle_avoidance/ball_0030_15/position_11/depth_01/fem_node.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f67410a22dbbc809a9061c31b860b0eae5c3af70c2c3e549516cdba3f290d03d
+size 25609307

Part2/Obstacle_avoidance/ball_0030_15/position_11/depth_01/simulation_data.csv

@@ -0,0 +1,406 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+1,0.016666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+2,0.033333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+3,0.050000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+4,0.066666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+5,0.083333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+6,0.100000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+7,0.116666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+8,0.133333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+9,0.150000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+10,0.166666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+11,0.183333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+12,0.200000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+13,0.216666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+14,0.233333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+15,0.250000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+16,0.266666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+17,0.283333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+18,0.300000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+19,0.316666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+20,0.333333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+21,0.350000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+22,0.366666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+23,0.383333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+24,0.400000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+25,0.416666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+26,0.433333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+27,0.450000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+28,0.466666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+29,0.483333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+30,0.500000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+31,0.516666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+32,0.533333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+33,0.550000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+34,0.566666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+35,0.583333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+36,0.600000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+37,0.616666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+38,0.633333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+39,0.650000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+40,0.666666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+41,0.683333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+42,0.700000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+43,0.716666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+44,0.733333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+45,0.750000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+46,0.766666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+47,0.783333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+48,0.800000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+49,0.816666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+50,0.833333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+51,0.850000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+52,0.866666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+53,0.883333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+54,0.900000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+55,0.916666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+56,0.933333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+57,0.950000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+58,0.966666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+59,0.983333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+60,1.000000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+61,1.016666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+62,1.033333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+63,1.050000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+64,1.066666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+65,1.083333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+66,1.100000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+67,1.116666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+68,1.133333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+69,1.150000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+70,1.166666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+71,1.183333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+72,1.200000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+73,1.216666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+74,1.233333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+75,1.250000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+76,1.266666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+77,1.283333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+78,1.300000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+79,1.316666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+80,1.333333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+81,1.350000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+82,1.366666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+83,1.383333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+84,1.400000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+85,1.416666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+86,1.433333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+87,1.450000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+88,1.466666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+89,1.483333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+90,1.500000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+91,1.516666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+92,1.533333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+93,1.550000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+94,1.566666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+95,1.583333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+96,1.600000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+97,1.616666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+98,1.633333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+99,1.650000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+100,1.666666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+101,1.683333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+102,1.700000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+103,1.716666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+104,1.733333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+105,1.750000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+106,1.766666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+107,1.783333333,pose1_to_pose2_press,0.580743526044,0.0100018042208,1.0600406973,0.551315244766,0.0186766295062,1.05967849416
+108,1.800000000,pose1_to_pose2_press,0.580743645477,0.0100017759001,1.0600408116,0.551315365371,0.0186766048957,1.05967860212
+109,1.816666667,pose1_to_pose2_press,0.580743741207,0.0100017625773,1.06004088791,0.551315461665,0.0186765933886,1.05967867609
+110,1.833333333,pose1_to_pose2_press,0.580743888007,0.0100017644659,1.06004096853,0.551315608437,0.0186765953058,1.05967875961
+111,1.850000000,pose1_to_pose2_press,0.580743895286,0.0100017645596,1.06004097253,0.551315615715,0.0186765954008,1.05967876375
+112,1.866666667,pose1_to_pose2_press,0.580744018588,0.0100017661459,1.06004104024,0.551315738994,0.0186765970111,1.0596788339
+113,1.883333333,pose1_to_pose2_press,0.580744087388,0.010001767031,1.06004107802,0.551315807781,0.0186765979096,1.05967887305
+114,1.900000000,pose1_to_pose2_press,0.580744112629,0.0100017711447,1.06004107633,0.551315832965,0.0186766018437,1.05967887166
+115,1.916666667,pose1_to_pose2_press,0.58074441134,0.0100018266614,1.06004102823,0.551316130912,0.0186766549023,1.0596788268
+116,1.933333333,pose1_to_pose2_press,0.580746935315,0.0100018816748,1.06004091712,0.551318654769,0.0186767096409,1.05967871861
+117,1.950000000,pose1_to_pose2_press,0.580753239256,0.0100018869411,1.06004106743,0.551324957091,0.0186767089567,1.05967885796
+118,1.966666667,pose1_to_pose2_press,0.580767070604,0.0100018953601,1.06004097905,0.551338790643,0.0186767249417,1.05967877174
+119,1.983333333,pose1_to_pose2_press,0.580789341466,0.0100018653974,1.06004093621,0.551361062872,0.0186766997452,1.05967873191
+120,2.000000000,pose1_to_pose2_press,0.580822021584,0.010001874309,1.06004083872,0.551393740266,0.0186766993354,1.05967863233
+121,2.016666667,pose1_to_pose2_press,0.580864339718,0.0100018615151,1.06004084098,0.551436058618,0.0186766872257,1.05967863332
+122,2.033333333,pose1_to_pose2_press,0.580916051645,0.0100017352296,1.06004086325,0.55148777249,0.0186765673227,1.05967865028
+123,2.050000000,pose1_to_pose2_press,0.580975815911,0.0100019668957,1.06004083899,0.551547533707,0.0186767889056,1.05967863217
+124,2.066666667,pose1_to_pose2_press,0.581043337199,0.0100019976542,1.06004084676,0.551615055016,0.0186768196329,1.05967863745
+125,2.083333333,pose1_to_pose2_press,0.581119942119,0.0100018715677,1.06004088286,0.551691661041,0.0186766969419,1.05967866513
+126,2.100000000,pose1_to_pose2_press,0.581206466429,0.0100018092814,1.06004095065,0.551778185722,0.0186766361719,1.059678739
+127,2.116666667,pose1_to_pose2_press,0.581306086475,0.0100018020099,1.06004087312,0.551877805963,0.0186766296911,1.05967866447
+128,2.133333333,pose1_to_pose2_press,0.581420522119,0.0100019307781,1.06004083212,0.551992239863,0.0186767526654,1.05967862635
+129,2.150000000,pose1_to_pose2_press,0.581551558011,0.0100019145939,1.06004075463,0.552123276571,0.0186767392553,1.059678549
+130,2.166666667,pose1_to_pose2_press,0.581699750749,0.0100018385418,1.06004080905,0.552271471226,0.0186766694688,1.05967859769
+131,2.183333333,pose1_to_pose2_press,0.581864568015,0.0100018661362,1.06004091983,0.552436287675,0.0186766942972,1.05967870852
+132,2.200000000,pose1_to_pose2_press,0.582046940799,0.0100018571239,1.06004092055,0.552618659337,0.0186766814278,1.05967870809
+133,2.216666667,pose1_to_pose2_press,0.582246349994,0.0100017634298,1.06004087507,0.55281807026,0.0186765934891,1.05967866
+134,2.233333333,pose1_to_pose2_press,0.582465127918,0.0100017791291,1.06004094286,0.553036849665,0.0186766144504,1.05967873337
+135,2.250000000,pose1_to_pose2_press,0.582704844399,0.010001901216,1.06004097875,0.553276564492,0.0186767312553,1.05967877713
+136,2.266666667,pose1_to_pose2_press,0.58296636555,0.010001874417,1.06004083992,0.553538085021,0.0186767024685,1.05967864112
+137,2.283333333,pose1_to_pose2_press,0.583248255782,0.0100017529664,1.06004096217,0.553819977034,0.0186765867018,1.05967875483
+138,2.300000000,pose1_to_pose2_press,0.583549495372,0.0100017756784,1.0600409343,0.554121215546,0.0186766055964,1.05967872297
+139,2.316666667,pose1_to_pose2_press,0.583871581502,0.0100018474675,1.0600406917,0.554443301349,0.0186766768565,1.05967849431
+140,2.333333333,pose1_to_pose2_press,0.58421057139,0.0100019175229,1.0600408014,0.55478229208,0.0186767496792,1.05967860164
+141,2.350000000,pose1_to_pose2_press,0.584565592104,0.0100019017379,1.06004067657,0.555137311634,0.0186767301195,1.05967848069
+142,2.366666667,pose1_to_pose2_press,0.58493850175,0.0100019982077,1.0600410686,0.555510220048,0.0186768216818,1.05967885523
+143,2.383333333,pose1_to_pose2_press,0.585329165449,0.0100018906875,1.06004076715,0.555900884932,0.01867671867,1.05967856544
+144,2.400000000,pose1_to_pose2_press,0.585741241039,0.0100017852901,1.06004077029,0.556312962062,0.0186766185879,1.05967857067
+145,2.416666667,pose1_to_pose2_press,0.586176251536,0.0100016923149,1.06004089293,0.55674797307,0.0186765271432,1.05967868846
+146,2.433333333,pose1_to_pose2_press,0.586639024225,0.0100018262708,1.06004089034,0.557210744176,0.0186766556588,1.05967868417
+147,2.450000000,pose1_to_pose2_press,0.587127234342,0.0100018563358,1.06004090476,0.557698954309,0.0186766856986,1.05967869663
+148,2.466666667,pose1_to_pose2_press,0.58764037779,0.0100017923935,1.06004091043,0.558212098743,0.0186766251241,1.05967870279
+149,2.483333333,pose1_to_pose2_press,0.588171870201,0.0100018624401,1.06004091283,0.558743590223,0.0186766921277,1.05967870795
+150,2.500000000,pose1_to_pose2_press,0.588720454807,0.0100018320623,1.06004098054,0.559292173813,0.0186766582193,1.0596787736
+151,2.516666667,pose1_to_pose2_press,0.589287376188,0.0100018866953,1.06004074519,0.559859093836,0.0186767084855,1.05967854401
+152,2.533333333,pose1_to_pose2_press,0.589873961001,0.0100018344107,1.0600409265,0.560445681529,0.0186766658218,1.05967872167
+153,2.550000000,pose1_to_pose2_press,0.590483619052,0.010001739735,1.06004069637,0.561055340686,0.0186765751282,1.05967849708
+154,2.566666667,pose1_to_pose2_press,0.591113152738,0.0100018047869,1.06004082517,0.561684872606,0.0186766339634,1.05967862043
+155,2.583333333,pose1_to_pose2_press,0.591760034151,0.0100018906174,1.0600408127,0.562331752771,0.0186767156773,1.05967861072
+156,2.600000000,pose1_to_pose2_press,0.592411369411,0.0100017799119,1.0600407141,0.562983089838,0.0186766110647,1.05967851121
+157,2.616666667,pose1_to_pose2_press,0.593068280645,0.0100017341261,1.06004089848,0.563640001806,0.0186765675538,1.05967869038
+158,2.633333333,pose1_to_pose2_press,0.593737302344,0.0100016778746,1.06004090867,0.564309023882,0.0186765129817,1.05967871023
+159,2.650000000,pose1_to_pose2_press,0.594421542337,0.0100018313372,1.06004086043,0.564993261933,0.0186766597474,1.05967865929
+160,2.666666667,pose1_to_pose2_press,0.595123337414,0.0100018975773,1.06004084287,0.565695055903,0.0186767219919,1.05967863601
+161,2.683333333,pose1_to_pose2_press,0.595852186536,0.0100018155174,1.06004089396,0.566423906437,0.0186766446975,1.05967868655
+162,2.700000000,pose1_to_pose2_press,0.596604554208,0.0100018331686,1.06004092077,0.567176275311,0.0186766664485,1.05967871389
+163,2.716666667,pose1_to_pose2_press,0.597372913988,0.0100019268018,1.06004084928,0.567944633953,0.0186767564945,1.05967864894
+164,2.733333333,pose1_to_pose2_press,0.598147566163,0.0100019907659,1.06004090053,0.568719284644,0.0186768154466,1.05967870078
+165,2.750000000,pose1_to_pose2_press,0.59891513243,0.0100017641041,1.0600408367,0.569486853134,0.0186765960732,1.05967863089
+166,2.766666667,pose1_to_pose2_press,0.599670603294,0.01000189212,1.0600408708,0.570242319959,0.0186767100785,1.05967865765
+167,2.783333333,pose1_to_pose2_press,0.600412590535,0.0100017942676,1.06004099006,0.570984311034,0.0186766250692,1.05967877298
+168,2.800000000,pose1_to_pose2_press,0.601161803404,0.0100019126152,1.06004100776,0.571733522407,0.0186767383664,1.05967879128
+169,2.816666667,pose1_to_pose2_press,0.601926465445,0.0100019413913,1.0600408891,0.572498183547,0.0186767643855,1.0596786799
+170,2.833333333,pose1_to_pose2_press,0.602716845831,0.0100018972219,1.0600409758,0.573288564676,0.0186767230464,1.05967877405
+171,2.850000000,pose1_to_pose2_press,0.603530639626,0.0100017905733,1.06004083427,0.57410236041,0.0186766230613,1.05967863455
+172,2.866666667,pose1_to_pose2_press,0.604364966614,0.0100017930875,1.06004078773,0.574936685919,0.0186766202091,1.05967857974
+173,2.883333333,pose1_to_pose2_press,0.605187282996,0.0100017779065,1.06004099364,0.575759002319,0.0186766048552,1.0596787801
+174,2.900000000,pose1_to_pose2_press,0.605993873693,0.0100018004673,1.06004103189,0.57656559334,0.0186766286895,1.05967882262
+175,2.916666667,pose1_to_pose2_press,0.606767360389,0.0100018509009,1.06004094093,0.577339078978,0.0186766757453,1.05967873663
+176,2.933333333,pose1_to_pose2_press,0.60751799093,0.0100018052277,1.06004082888,0.578089710421,0.0186766332895,1.05967862842
+177,2.950000000,pose1_to_pose2_press,0.60826479043,0.0100017835256,1.06004055439,0.578836510945,0.0186766152294,1.05967835799
+178,2.966666667,pose1_to_pose2_press,0.609017361894,0.0100016390871,1.06004063552,0.579589083049,0.0186764722361,1.05967842187
+179,2.983333333,pose1_to_pose2_press,0.609780391196,0.0100017230044,1.06004064684,0.580352112987,0.018676559337,1.05967845781
+180,3.000000000,pose1_to_pose2_press,0.610557191598,0.0100018875,1.06004098847,0.581128912573,0.0186767199234,1.05967877211
+181,3.016666667,pose1_to_pose2_press,0.611337533282,0.0100018911418,1.06004079721,0.581909253568,0.0186767222049,1.05967860443
+182,3.033333333,pose1_to_pose2_press,0.61210067944,0.010001849759,1.06004089133,0.582672399652,0.0186766804785,1.05967869634
+183,3.050000000,pose1_to_pose2_press,0.612837712415,0.0100018437088,1.06004071251,0.583409432978,0.0186766756395,1.05967851813
+184,3.066666667,pose1_to_pose2_press,0.613539032288,0.0100017792176,1.06004067828,0.58411075225,0.0186766089467,1.05967848005
+185,3.083333333,pose1_to_pose2_press,0.614214723618,0.010001837293,1.06004093811,0.584786443159,0.0186766652603,1.05967873189
+186,3.100000000,pose1_to_pose2_press,0.614865655055,0.0100018649198,1.06004105063,0.585437374677,0.0186766928345,1.05967883669
+187,3.116666667,pose1_to_pose2_press,0.615510559719,0.0100018238244,1.06004093901,0.586082279957,0.0186766538499,1.05967872565
+188,3.133333333,pose1_to_pose2_press,0.616154191468,0.0100018221477,1.06004091681,0.586725912178,0.0186766539861,1.05967870863
+189,3.150000000,pose1_to_pose2_press,0.616801050442,0.0100018657841,1.06004102374,0.587372770726,0.018676696175,1.05967881556
+190,3.166666667,pose1_to_pose2_press,0.617446065512,0.0100018712582,1.06004082188,0.588017785437,0.0186767009117,1.05967862527
+191,3.183333333,pose1_to_pose2_press,0.61808163172,0.0100019936518,1.06004087021,0.588653350523,0.0186768197303,1.05967867906
+192,3.200000000,pose1_to_pose2_press,0.618685506618,0.0100018082951,1.06004085813,0.589257226552,0.0186766375651,1.05967865127
+193,3.216666667,pose1_to_pose2_press,0.619256117142,0.0100017280644,1.06004095598,0.589827838661,0.018676562729,1.05967875001
+194,3.233333333,pose1_to_pose2_press,0.619790449059,0.0100018597366,1.06004090337,0.590362168595,0.0186766881573,1.05967870878
+195,3.250000000,pose1_to_pose2_press,0.620297071741,0.0100019153375,1.06004100321,0.590868790767,0.0186767410616,1.05967878611
+196,3.266666667,pose1_to_pose2_press,0.620782184391,0.0100017977643,1.06004086053,0.591353904606,0.018676627841,1.0596786512
+197,3.283333333,pose1_to_pose2_press,0.621246417548,0.0100018291265,1.06004079896,0.591818137362,0.0186766583316,1.0596786011
+198,3.300000000,pose1_to_pose2_press,0.621688363143,0.0100017293941,1.06004098378,0.592260085013,0.0186765653471,1.0596787798
+199,3.316666667,pose1_to_pose2_press,0.622109788578,0.0100017605466,1.06004087875,0.592681509276,0.0186765924453,1.05967867129
+200,3.333333333,pose1_to_pose2_press,0.62251126774,0.0100018185411,1.06004077001,0.593082986544,0.0186766441119,1.05967856283
+201,3.350000000,pose1_to_pose2_press,0.622893126757,0.0100018298651,1.06004079986,0.593464844942,0.0186766534152,1.05967859191
+202,3.366666667,pose1_to_pose2_press,0.623261295701,0.0100018596185,1.06004068046,0.593833013681,0.0186766827029,1.05967847513
+203,3.383333333,pose1_to_pose2_press,0.623617343586,0.0100018208329,1.06004059848,0.594189063793,0.0186766518962,1.05967840128
+204,3.400000000,pose1_to_pose2_press,0.623956619277,0.0100019528073,1.06004078323,0.594528338315,0.0186767802654,1.05967859194
+205,3.416666667,pose1_to_pose2_press,0.624276985191,0.0100018061385,1.06004093718,0.59484870681,0.0186766420026,1.0596787356
+206,3.433333333,pose1_to_pose2_press,0.624568821374,0.0100017357827,1.060040942,0.595140543274,0.0186765725735,1.05967873776
+207,3.450000000,pose1_to_pose2_press,0.624832517468,0.0100019594732,1.06004091346,0.595404235244,0.0186767826717,1.05967871628
+208,3.466666667,pose1_to_pose2_press,0.625066035423,0.0100020623276,1.06004091716,0.595637752051,0.0186768816693,1.05967871893
+209,3.483333333,pose1_to_pose2_press,0.625278418495,0.010001937777,1.06004092439,0.595850137302,0.01867676452,1.05967872469
+210,3.500000000,pose1_to_pose2_press,0.625472904022,0.0100018794536,1.06004081478,0.596044623922,0.0186767098011,1.05967861097
+211,3.516666667,pose1_to_pose2_press,0.62565492483,0.0100018675793,1.06004074941,0.59622664475,0.018676698114,1.05967854693
+212,3.533333333,pose1_to_pose2_press,0.625825093873,0.0100018525281,1.06004077365,0.596396813915,0.0186766836916,1.05967857486
+213,3.550000000,pose1_to_pose2_press,0.625984273453,0.0100018480427,1.0600407086,0.596555993956,0.0186766806412,1.05967850514
+214,3.566666667,pose1_to_pose2_press,0.626130137898,0.0100017367159,1.0600406785,0.596701858464,0.0186765700767,1.0596784872
+215,3.583333333,pose1_to_pose2_press,0.626259869771,0.0100018819404,1.06004090666,0.596831587915,0.0186767069843,1.0596787118
+216,3.600000000,pose1_to_pose2_press,0.626376595626,0.0100019271929,1.06004094626,0.596948312254,0.0186767466704,1.05967874031
+217,3.616666667,pose1_to_pose2_press,0.626480812707,0.0100017789627,1.06004098744,0.597052532152,0.0186766077101,1.05967877364
+218,3.633333333,pose1_to_pose2_press,0.626571481028,0.0100018428645,1.06004077675,0.597143199466,0.0186766685286,1.05967856702
+219,3.650000000,pose1_to_pose2_press,0.626649687949,0.0100018185297,1.06004096356,0.597221406169,0.0186766436044,1.05967876054
+220,3.666666667,pose1_to_pose2_press,0.626715623697,0.0100017827321,1.06004097992,0.59728734359,0.0186766134708,1.05967877794
+221,3.683333333,pose1_to_pose2_press,0.626770953431,0.0100018159206,1.06004092925,0.597342672951,0.0186766454988,1.05967872951
+222,3.700000000,pose1_to_pose2_press,0.626815953527,0.0100018565239,1.06004080702,0.597387672706,0.0186766851334,1.05967861051
+223,3.716666667,pose1_to_pose2_press,0.626853675991,0.0100019356122,1.06004071855,0.597425394171,0.0186767608223,1.05967852086
+224,3.733333333,pose1_to_pose2_press,0.626884475535,0.0100020498444,1.0600408526,0.59745619118,0.0186768661195,1.05967864782
+225,3.750000000,pose1_to_pose2_press,0.626909420441,0.0100019649711,1.06004099718,0.597481139122,0.0186767912294,1.05967878474
+226,3.766666667,pose1_to_pose2_press,0.62692923635,0.010001986196,1.06004112649,0.59750095362,0.0186768074427,1.05967890625
+227,3.783333333,pose1_to_pose2_press,0.626944033739,0.0100018712083,1.06004095933,0.597515752731,0.0186766988517,1.05967875134
+228,3.800000000,pose1_to_pose2_press,0.626955015431,0.0100017780438,1.06004081844,0.59752673512,0.0186766083322,1.05967861723
+229,3.816666667,pose1_to_pose2_press,0.62696203733,0.0100019059556,1.06004094112,0.597533756065,0.0186767327176,1.05967873331
+230,3.833333333,pose1_to_pose2_press,0.626966948085,0.0100019726035,1.06004083902,0.597538665992,0.0186767969859,1.0596786416
+231,3.850000000,pose1_to_pose2_press,0.626969820426,0.0100019565836,1.06004096991,0.597541538427,0.01867678096,1.05967876458
+232,3.866666667,pose1_to_pose2_press,0.626971014082,0.0100019217238,1.06004109898,0.597542732516,0.0186767471459,1.0596788834
+233,3.883333333,pose1_to_pose2_press,0.626971457718,0.010001861375,1.06004101471,0.597543177006,0.0186766896774,1.05967879861
+234,3.900000000,pose1_to_pose2_press,0.62697174501,0.0100018222941,1.06004096014,0.597543464851,0.0186766524617,1.05967874371
+235,3.916666667,pose1_to_pose2_press,0.626971845982,0.0100018085585,1.06004094096,0.597543566018,0.0186766393817,1.05967872441
+236,3.933333333,pose1_to_pose2_press,0.626971890308,0.0100018025288,1.06004093254,0.59754361043,0.0186766336397,1.05967871594
+237,3.950000000,pose1_to_pose2_press,0.626971957482,0.0100017933909,1.06004091978,0.597543677733,0.018676624938,1.0596787031
+238,3.966666667,pose1_to_pose2_press,0.626972052714,0.0100017804364,1.06004090169,0.597543773148,0.0186766126017,1.0596786849
+239,3.983333333,pose1_to_pose2_press,0.626972150111,0.0100017671872,1.06004088319,0.597543870733,0.0186765999849,1.05967866628
+240,4.000000000,pose1_to_pose2_press,0.626972258573,0.0100017748927,1.06004092421,0.597543978951,0.0186766069015,1.05967870822
+241,4.016666667,pose1_to_pose2_press,0.62697238795,0.010001790636,1.06004099112,0.597544107905,0.0186766212681,1.05967877653
+242,4.033333333,pose1_to_pose2_press,0.626972562276,0.0100018118487,1.06004108128,0.59754428166,0.018676640626,1.05967886856
+243,4.050000000,pose1_to_pose2_press,0.626972667982,0.0100018336436,1.06004084446,0.597544387699,0.0186766639441,1.05967864114
+244,4.066666667,pose1_to_pose2_press,0.626972737394,0.0100018508618,1.06004081286,0.597544457163,0.0186766813912,1.05967861069
+245,4.083333333,pose2_hold,0.626972737394,0.0100018508618,1.06004081286,0.597544457164,0.0186766813896,1.05967861069
+246,4.100000000,pose2_hold,0.626972737394,0.0100018508618,1.06004081286,0.597544457165,0.0186766813896,1.05967861069
+247,4.116666667,pose2_hold,0.626972737394,0.0100018508618,1.06004081286,0.597544457165,0.0186766813899,1.05967861069
+248,4.133333333,pose2_hold,0.626972737394,0.0100018508618,1.06004081286,0.597544457165,0.0186766813902,1.05967861069
+249,4.150000000,pose2_hold,0.626972737394,0.0100018508618,1.06004081286,0.597544457165,0.0186766813907,1.05967861069
+250,4.166666667,pose2_hold,0.626972737394,0.0100018508618,1.06004081286,0.597544457165,0.0186766813896,1.05967861069
+251,4.183333333,pose2_hold,0.626972737394,0.0100018508618,1.06004081286,0.597544457165,0.0186766813897,1.05967861069
+252,4.200000000,pose2_hold,0.626972737394,0.0100018508618,1.06004081286,0.597544457165,0.0186766813897,1.05967861069
+253,4.216666667,pose2_hold,0.626972737394,0.0100018508618,1.06004081286,0.597544457165,0.0186766813896,1.05967861069
+254,4.233333333,pose2_hold,0.626972737394,0.0100018508618,1.06004081286,0.597544457165,0.0186766813895,1.05967861069
+255,4.250000000,pose2_hold,0.626972737394,0.0100018508618,1.06004081286,0.597544457165,0.0186766813893,1.05967861069
+256,4.266666667,pose2_hold,0.626972737394,0.0100018508618,1.06004081286,0.597544457165,0.0186766813892,1.05967861069
+257,4.283333333,pose2_hold,0.626972737394,0.0100018508618,1.06004081286,0.597544457165,0.0186766813892,1.05967861069
+258,4.300000000,pose2_hold,0.626972737394,0.0100018508618,1.06004081286,0.597544457165,0.0186766813891,1.05967861069
+259,4.316666667,pose2_hold,0.626972737394,0.0100018508618,1.06004081286,0.597544457165,0.0186766813894,1.05967861069
+260,4.333333333,pose2_hold,0.626972737394,0.0100018508618,1.06004081286,0.597544457165,0.0186766813894,1.05967861069
+261,4.350000000,pose2_hold,0.626972737394,0.0100018508618,1.06004081286,0.597544457166,0.0186766813897,1.05967861069
+262,4.366666667,pose2_hold,0.626972737394,0.0100018508618,1.06004081286,0.597544457166,0.0186766813893,1.05967861069
+263,4.383333333,pose2_to_pose3_retreat,0.626972737394,0.0100018508618,1.06004081286,0.597544457166,0.018676681388,1.05967861069
+264,4.400000000,pose2_to_pose3_retreat,0.626972714536,0.0100018527561,1.06004081531,0.597544434196,0.0186766828811,1.0596786126
+265,4.416666667,pose2_to_pose3_retreat,0.626972652941,0.0100018578604,1.06004082191,0.597544372299,0.0186766869045,1.05967861775
+266,4.433333333,pose2_to_pose3_retreat,0.626972538315,0.0100018765432,1.06004082495,0.597544257363,0.018676704519,1.05967862032
+267,4.450000000,pose2_to_pose3_retreat,0.626972428893,0.0100019051542,1.06004081701,0.597544147939,0.0186767332173,1.05967861453
+268,4.466666667,pose2_to_pose3_retreat,0.626972340484,0.0100019282707,1.0600408106,0.59754405953,0.0186767564045,1.05967860985
+269,4.483333333,pose2_to_pose3_retreat,0.626972130043,0.0100019232663,1.06004077589,0.597543849198,0.0186767517644,1.05967857499
+270,4.500000000,pose2_to_pose3_retreat,0.626970607158,0.0100018427942,1.06004060871,0.597542326152,0.0186766706578,1.05967840548
+271,4.516666667,pose2_to_pose3_retreat,0.626965696313,0.0100018295279,1.06004069674,0.597537414099,0.0186766532691,1.05967849283
+272,4.533333333,pose2_to_pose3_retreat,0.626954574665,0.0100018408607,1.06004072707,0.597526294496,0.0186766716914,1.05967852668
+273,4.550000000,pose2_to_pose3_retreat,0.626935413843,0.0100018991152,1.06004100719,0.597507131347,0.0186767218566,1.05967880391
+274,4.566666667,pose2_to_pose3_retreat,0.626905540998,0.0100019511747,1.06004082427,0.597477258373,0.018676773693,1.05967862437
+275,4.583333333,pose2_to_pose3_retreat,0.626865297862,0.0100018449598,1.06004114408,0.59743701846,0.0186766779968,1.05967893808
+276,4.600000000,pose2_to_pose3_retreat,0.626814555568,0.0100018876308,1.06004079732,0.597386274115,0.0186767138417,1.05967859205
+277,4.616666667,pose2_to_pose3_retreat,0.626755228693,0.0100017788866,1.06004069976,0.597326947649,0.0186766064436,1.05967849643
+278,4.633333333,pose2_to_pose3_retreat,0.62668783619,0.0100017358323,1.0600407926,0.597259556342,0.0186765673093,1.05967858838
+279,4.650000000,pose2_to_pose3_retreat,0.626612262988,0.0100017506955,1.06004092191,0.597183983304,0.0186765826162,1.05967871562
+280,4.666666667,pose2_to_pose3_retreat,0.62652802706,0.0100019132858,1.06004081599,0.597099745417,0.0186767388272,1.05967861401
+281,4.683333333,pose2_to_pose3_retreat,0.626431500489,0.0100019941563,1.06004082575,0.597003217811,0.0186768160155,1.05967862081
+282,4.700000000,pose2_to_pose3_retreat,0.626321885037,0.010001637478,1.0600408441,0.596893607104,0.0186764752552,1.05967863555
+283,4.716666667,pose2_to_pose3_retreat,0.626196678601,0.0100018213502,1.06004080796,0.596768398411,0.0186766517918,1.05967860796
+284,4.733333333,pose2_to_pose3_retreat,0.626056152009,0.0100018209639,1.06004092028,0.596627871604,0.0186766503669,1.05967871435
+285,4.750000000,pose2_to_pose3_retreat,0.625899677672,0.0100018458718,1.06004086848,0.596471397631,0.0186766766236,1.05967866642
+286,4.766666667,pose2_to_pose3_retreat,0.625728149559,0.0100019010185,1.06004090476,0.59629986903,0.0186767297833,1.05967869637
+287,4.783333333,pose2_to_pose3_retreat,0.625541109266,0.0100018986781,1.06004091654,0.596112828325,0.0186767257288,1.05967870249
+288,4.800000000,pose2_to_pose3_retreat,0.625334724273,0.0100018464469,1.0600406922,0.595906443627,0.0186766750426,1.05967849314
+289,4.816666667,pose2_to_pose3_retreat,0.625110471028,0.0100018861858,1.06004068761,0.595682189165,0.0186767106924,1.05967849087
+290,4.833333333,pose2_to_pose3_retreat,0.624868861019,0.0100018699548,1.06004078099,0.595440581291,0.0186767017385,1.05967858728
+291,4.850000000,pose2_to_pose3_retreat,0.624608676864,0.0100018296307,1.06004082063,0.595180397809,0.0186766632365,1.05967861891
+292,4.866666667,pose2_to_pose3_retreat,0.624329032893,0.0100019216377,1.06004097979,0.59490075317,0.0186767529249,1.05967877852
+293,4.883333333,pose2_to_pose3_retreat,0.624029964971,0.0100019608192,1.06004086534,0.594601683974,0.018676787655,1.05967866384
+294,4.900000000,pose2_to_pose3_retreat,0.623708684653,0.0100019441748,1.06004069994,0.594280402888,0.0186767682603,1.05967849751
+295,4.916666667,pose2_to_pose3_retreat,0.623356554613,0.0100019052409,1.06004073138,0.593928273179,0.0186767303673,1.05967852857
+296,4.933333333,pose2_to_pose3_retreat,0.622976201174,0.0100018670338,1.06004083453,0.59354791997,0.0186766929072,1.05967863317
+297,4.950000000,pose2_to_pose3_retreat,0.622567257565,0.0100019412579,1.06004088583,0.593138974748,0.0186767619636,1.05967869417
+298,4.966666667,pose2_to_pose3_retreat,0.622139720336,0.0100019074688,1.06004093098,0.592711439949,0.0186767358503,1.05967872945
+299,4.983333333,pose2_to_pose3_retreat,0.621697304692,0.010001847263,1.06004096158,0.59226902614,0.0186766816637,1.05967875612
+300,5.000000000,pose2_to_pose3_retreat,0.621240971875,0.0100019290655,1.0600406325,0.591812690134,0.0186767528472,1.05967843217
+301,5.016666667,pose2_to_pose3_retreat,0.62076874223,0.0100019325305,1.06004085273,0.591340460931,0.0186767574832,1.05967864454
+302,5.033333333,pose2_to_pose3_retreat,0.620274668864,0.0100018877113,1.0600409307,0.59084638836,0.0186767156657,1.05967872977
+303,5.050000000,pose2_to_pose3_retreat,0.619751770682,0.0100018368721,1.06004080313,0.590323490592,0.018676666445,1.05967860743
+304,5.066666667,pose2_to_pose3_retreat,0.619197286002,0.0100018178837,1.06004078624,0.589769006215,0.0186766481959,1.05967858358
+305,5.083333333,pose2_to_pose3_retreat,0.61861924969,0.0100018283497,1.0600409579,0.589190970068,0.0186766590001,1.05967875
+306,5.100000000,pose2_to_pose3_retreat,0.618021256632,0.0100018083802,1.0600409348,0.588592977388,0.018676640254,1.05967872538
+307,5.116666667,pose2_to_pose3_retreat,0.617407045579,0.0100017486266,1.06004072368,0.587978767254,0.0186765838149,1.05967851906
+308,5.133333333,pose2_to_pose3_retreat,0.616771624088,0.0100017639144,1.06004092177,0.587343345111,0.0186765970817,1.05967872166
+309,5.150000000,pose2_to_pose3_retreat,0.616106169946,0.0100019874361,1.06004102702,0.586677886893,0.0186768068723,1.05967882706
+310,5.166666667,pose2_to_pose3_retreat,0.615415537878,0.0100019687023,1.06004083108,0.585987256876,0.0186767953539,1.05967863682
+311,5.183333333,pose2_to_pose3_retreat,0.614702814877,0.0100019057463,1.06004099363,0.585274533694,0.0186767314403,1.05967879092
+312,5.200000000,pose2_to_pose3_retreat,0.613977176648,0.0100018946514,1.06004084681,0.584548895079,0.0186767187386,1.05967863689
+313,5.216666667,pose2_to_pose3_retreat,0.613247889921,0.0100018962298,1.06004087044,0.583819609764,0.0186767251397,1.05967866119
+314,5.233333333,pose2_to_pose3_retreat,0.612524653213,0.0100019090534,1.06004096086,0.583096373802,0.018676740577,1.05967875359
+315,5.250000000,pose2_to_pose3_retreat,0.61179635881,0.0100019205289,1.06004092291,0.582368078706,0.0186767496909,1.05967871531
+316,5.266666667,pose2_to_pose3_retreat,0.611055616755,0.0100018803247,1.06004087603,0.581627336338,0.018676708414,1.05967866808
+317,5.283333333,pose2_to_pose3_retreat,0.610300269468,0.0100017793001,1.0600409406,0.58087199028,0.0186766116804,1.05967873557
+318,5.300000000,pose2_to_pose3_retreat,0.609528993467,0.0100018311033,1.06004081417,0.580100714274,0.0186766636954,1.05967861446
+319,5.316666667,pose2_to_pose3_retreat,0.608726158023,0.0100018785075,1.06004112344,0.579297877764,0.0186767066151,1.05967890294
+320,5.333333333,pose2_to_pose3_retreat,0.607906447115,0.0100019592117,1.06004089804,0.578478164363,0.0186767791777,1.05967868505
+321,5.350000000,pose2_to_pose3_retreat,0.607086689623,0.0100019650669,1.06004085004,0.577658406865,0.0186767851328,1.05967863986
+322,5.366666667,pose2_to_pose3_retreat,0.606270685942,0.0100018948016,1.06004092574,0.576842405362,0.0186767224195,1.05967871941
+323,5.383333333,pose2_to_pose3_retreat,0.605463623376,0.0100017455017,1.06004111162,0.576035344135,0.0186765775747,1.05967890317
+324,5.400000000,pose2_to_pose3_retreat,0.604670737173,0.0100018237757,1.06004110542,0.575242457013,0.0186766526307,1.05967889449
+325,5.416666667,pose2_to_pose3_retreat,0.603883984672,0.0100019898164,1.06004101008,0.574455703437,0.0186768150902,1.05967880066
+326,5.433333333,pose2_to_pose3_retreat,0.603092625169,0.0100019085525,1.06004102746,0.573664344836,0.0186767369579,1.05967881972
+327,5.450000000,pose2_to_pose3_retreat,0.602282233871,0.0100017637177,1.06004085299,0.572853954497,0.0186765952556,1.05967864231
+328,5.466666667,pose2_to_pose3_retreat,0.601440838593,0.0100019588642,1.06004082022,0.57201255797,0.0186767865735,1.05967861933
+329,5.483333333,pose2_to_pose3_retreat,0.60059933746,0.010001800464,1.06004096048,0.571171058169,0.0186766323177,1.05967875059
+330,5.500000000,pose2_to_pose3_retreat,0.599765756403,0.0100019522433,1.06004090689,0.570337474216,0.0186767748747,1.05967871138
+331,5.516666667,pose2_to_pose3_retreat,0.598958300236,0.0100018134549,1.06004073368,0.56953002022,0.0186766432037,1.0596785322
+332,5.533333333,pose2_to_pose3_retreat,0.598182714068,0.0100018149319,1.06004090351,0.568754434852,0.0186766470756,1.05967869443
+333,5.550000000,pose2_to_pose3_retreat,0.597442530323,0.0100018424184,1.0600409724,0.56801425103,0.0186766742579,1.05967876225
+334,5.566666667,pose2_to_pose3_retreat,0.596713511275,0.0100018713536,1.06004096197,0.567285231346,0.0186767011283,1.05967875406
+335,5.583333333,pose2_to_pose3_retreat,0.595984803559,0.0100018871237,1.06004099294,0.566556522896,0.0186767144756,1.05967878666
+336,5.600000000,pose2_to_pose3_retreat,0.595243633838,0.0100018423518,1.06004103367,0.565815353472,0.0186766707228,1.0596788276
+337,5.616666667,pose2_to_pose3_retreat,0.594493665218,0.0100017487686,1.06004083685,0.56506538668,0.0186765834153,1.05967863265
+338,5.633333333,pose2_to_pose3_retreat,0.593742740745,0.0100019550553,1.06004082672,0.564314459081,0.0186767791438,1.05967862358
+339,5.650000000,pose2_to_pose3_retreat,0.593009640326,0.0100021310698,1.06004085311,0.563581356841,0.018676948659,1.05967864232
+340,5.666666667,pose2_to_pose3_retreat,0.592314764638,0.0100019468831,1.06004086553,0.562886482526,0.0186767690609,1.05967865305
+341,5.683333333,pose2_to_pose3_retreat,0.591653436507,0.0100019352406,1.0600411019,0.562225155961,0.0186767631985,1.05967890065
+342,5.700000000,pose2_to_pose3_retreat,0.591025103414,0.0100019393111,1.06004093731,0.561596823187,0.0186767683638,1.0596787363
+343,5.716666667,pose2_to_pose3_retreat,0.590418815249,0.0100018510873,1.06004075951,0.560990535356,0.018676681184,1.05967855643
+344,5.733333333,pose2_to_pose3_retreat,0.589823227309,0.010001819581,1.06004069171,0.560394947362,0.0186766496154,1.05967849156
+345,5.750000000,pose2_to_pose3_retreat,0.589225764776,0.0100018798491,1.06004069674,0.55979748414,0.018676707818,1.05967850305
+346,5.766666667,pose2_to_pose3_retreat,0.588634957918,0.0100018440634,1.06004076069,0.559206677031,0.0186766711632,1.05967856658
+347,5.783333333,pose2_to_pose3_retreat,0.588058356017,0.0100020025641,1.06004074032,0.5586300741,0.0186768257039,1.05967853509
+348,5.800000000,pose2_to_pose3_retreat,0.587510249547,0.0100019694212,1.06004096172,0.558081966704,0.0186767891464,1.05967874989
+349,5.816666667,pose2_to_pose3_retreat,0.586990837353,0.0100017696,1.06004069786,0.557562557862,0.0186766011572,1.05967849704
+350,5.833333333,pose2_to_pose3_retreat,0.586500381145,0.0100017202298,1.06004082152,0.557072102462,0.0186765541881,1.05967861478
+351,5.850000000,pose2_to_pose3_retreat,0.586033090355,0.0100016943219,1.06004090514,0.556604812533,0.0186765314178,1.05967870315
+352,5.866666667,pose2_to_pose3_retreat,0.585586636666,0.0100017523779,1.06004084208,0.556158357608,0.0186765854172,1.05967864355
+353,5.883333333,pose2_to_pose3_retreat,0.585164988028,0.0100018378705,1.06004088898,0.555736707763,0.0186766665804,1.05967868468
+354,5.900000000,pose2_to_pose3_retreat,0.584771565585,0.0100018829221,1.06004094653,0.555343285269,0.0186767114222,1.0596787411
+355,5.916666667,pose2_to_pose3_retreat,0.584404212069,0.0100018695232,1.06004095064,0.554975931822,0.018676698295,1.05967874631
+356,5.933333333,pose2_to_pose3_retreat,0.584060904065,0.010001813176,1.06004097172,0.55463262345,0.018676640456,1.05967876215
+357,5.950000000,pose2_to_pose3_retreat,0.583740404055,0.0100017364354,1.06004090439,0.554312124759,0.0186765687211,1.05967870696
+358,5.966666667,pose2_to_pose3_retreat,0.583435484757,0.0100018293255,1.06004085781,0.554007204263,0.0186766571344,1.0596786507
+359,5.983333333,pose2_to_pose3_retreat,0.583143011115,0.0100018661111,1.06004085384,0.553714729822,0.0186766911387,1.05967864469
+360,6.000000000,pose2_to_pose3_retreat,0.582866695834,0.0100018019351,1.06004085207,0.553438416867,0.0186766347705,1.0596786411
+361,6.016666667,pose2_to_pose3_retreat,0.582608467711,0.0100017507789,1.06004066167,0.55318018886,0.0186765843906,1.05967846015
+362,6.033333333,pose2_to_pose3_retreat,0.582369926991,0.0100017387055,1.0600407109,0.552941647296,0.0186765694941,1.05967851043
+363,6.050000000,pose2_to_pose3_retreat,0.582150739745,0.0100018736571,1.06004082786,0.552722458432,0.0186766987854,1.0596786232
+364,6.066666667,pose2_to_pose3_retreat,0.58195361658,0.0100018721596,1.06004073256,0.552525335394,0.0186766975893,1.05967852487
+365,6.083333333,pose2_to_pose3_retreat,0.581776256042,0.0100017340803,1.06004068357,0.552347976739,0.0186765658891,1.05967847559
+366,6.100000000,pose2_to_pose3_retreat,0.58161815456,0.0100017899472,1.06004082531,0.552189875201,0.0186766216823,1.05967862013
+367,6.116666667,pose2_to_pose3_retreat,0.581477567525,0.0100018376443,1.06004084494,0.552049287307,0.0186766662815,1.05967863548
+368,6.133333333,pose2_to_pose3_retreat,0.58135391592,0.0100020206139,1.06004085264,0.551925633822,0.0186768430262,1.05967864684
+369,6.150000000,pose2_to_pose3_retreat,0.581245061792,0.0100018715371,1.06004090875,0.551816782264,0.0186767031388,1.05967871416
+370,6.166666667,pose2_to_pose3_retreat,0.581149579704,0.0100019629997,1.06004082614,0.551721297204,0.0186767841598,1.05967862378
+371,6.183333333,pose2_to_pose3_retreat,0.581067606069,0.0100018385454,1.06004106654,0.551639326193,0.0186766681448,1.05967885315
+372,6.200000000,pose2_to_pose3_retreat,0.580997110678,0.0100018599584,1.06004087006,0.551568830013,0.0186766873284,1.05967866732
+373,6.216666667,pose2_to_pose3_retreat,0.580937966049,0.0100017118212,1.06004062782,0.551509686773,0.0186765440955,1.05967842972
+374,6.233333333,pose2_to_pose3_retreat,0.580890107968,0.010001726524,1.06004075264,0.551461828814,0.0186765588431,1.05967854565
+375,6.250000000,pose2_to_pose3_retreat,0.580851929294,0.0100017734687,1.06004107974,0.551423650632,0.0186766070874,1.05967886394
+376,6.266666667,pose2_to_pose3_retreat,0.580822449748,0.0100018066946,1.06004106332,0.551394170219,0.0186766375253,1.05967885126
+377,6.283333333,pose2_to_pose3_retreat,0.580799900567,0.0100018821737,1.06004082623,0.551371618382,0.0186767042842,1.05967862128
+378,6.300000000,pose2_to_pose3_retreat,0.580783430373,0.0100019965705,1.06004084551,0.551355146067,0.018676811315,1.05967863663
+379,6.316666667,pose2_to_pose3_retreat,0.580771195391,0.010002033471,1.06004081824,0.551342912458,0.0186768531647,1.05967861581
+380,6.333333333,pose2_to_pose3_retreat,0.580762349637,0.0100019017668,1.06004084083,0.551334068987,0.0186767290156,1.05967863381
+381,6.350000000,pose2_to_pose3_retreat,0.58075597436,0.0100017878845,1.06004082633,0.551327694961,0.0186766192733,1.05967861686
+382,6.366666667,pose2_to_pose3_retreat,0.580751718924,0.0100017878225,1.06004072232,0.551323438606,0.0186766163877,1.05967851968
+383,6.383333333,pose2_to_pose3_retreat,0.580749083131,0.0100018073038,1.06004078267,0.55132080286,0.0186766362057,1.05967858423
+384,6.400000000,pose2_to_pose3_retreat,0.580747660459,0.0100018243792,1.06004085718,0.551319380421,0.0186766541637,1.059678661
+385,6.416666667,pose2_to_pose3_retreat,0.580747338707,0.010001828241,1.06004087403,0.551319058722,0.0186766582251,1.05967867836
+386,6.433333333,pose2_to_pose3_retreat,0.580746925407,0.0100018332016,1.06004089567,0.551318645489,0.0186766634421,1.05967870066
+387,6.450000000,pose2_to_pose3_retreat,0.58074651501,0.0100018435622,1.06004091024,0.551318235109,0.018676673836,1.05967871465
+388,6.466666667,pose2_to_pose3_retreat,0.580746403008,0.0100018479902,1.06004091217,0.551318123096,0.0186766782078,1.05967871606
+389,6.483333333,pose2_to_pose3_retreat,0.580746270277,0.0100018532376,1.06004091447,0.551317990354,0.0186766833887,1.05967871774
+390,6.500000000,pose2_to_pose3_retreat,0.580745913928,0.0100018673257,1.06004092062,0.551317633973,0.0186766972982,1.05967872225
+391,6.516666667,pose2_to_pose3_retreat,0.580745843058,0.0100018701276,1.06004092185,0.551317563096,0.0186767000645,1.05967872315
+392,6.533333333,pose2_to_pose3_retreat,0.580745589485,0.0100018801525,1.06004092623,0.5513173095,0.0186767099623,1.05967872635
+393,6.550000000,pose2_to_pose3_retreat,0.580745381598,0.0100018883712,1.06004092982,0.551317101593,0.0186767180768,1.05967872898
+394,6.566666667,pose2_to_pose3_retreat,0.580745190065,0.0100018959434,1.06004093313,0.551316910044,0.018676725553,1.05967873141
+395,6.583333333,pose2_to_pose3_retreat,0.580744979241,0.0100019042782,1.06004093677,0.551316699201,0.0186767337822,1.05967873407
+396,6.600000000,pose2_to_pose3_retreat,0.58074492918,0.0100019062574,1.06004093763,0.551316649135,0.0186767357362,1.05967873471
+397,6.616666667,pose2_to_pose3_retreat,0.580744741385,0.0100019136818,1.06004094088,0.551316461323,0.0186767430665,1.05967873708
+398,6.633333333,pose2_to_pose3_retreat,0.580744735151,0.0100019139282,1.06004094099,0.551316455088,0.0186767433098,1.05967873716
+399,6.650000000,pose2_to_pose3_retreat,0.580744536933,0.0100019159472,1.06004094458,0.5513162568,0.0186767450595,1.05967873998
+400,6.666666667,pose2_to_pose3_retreat,0.580744391481,0.0100019077186,1.06004094749,0.55131611121,0.0186767363496,1.05967874258
+401,6.683333333,pose2_to_pose3_retreat,0.580744164437,0.0100018948741,1.06004095204,0.551315883951,0.0186767227539,1.05967874663
+402,6.700000000,pose2_to_pose3_retreat,0.580743734352,0.0100018625081,1.06004092256,0.551315453444,0.0186766889822,1.05967871781
+403,6.716666667,pose2_to_pose3_retreat,0.580743530168,0.0100017966245,1.06004066913,0.551315248969,0.0186766225403,1.0596784746
+404,6.733333333,pose2_to_pose3_retreat,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186

Part2/Obstacle_avoidance/ball_0030_15/position_11/depth_02/fem_node.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:964ff9bb10efc701fe8cfdfcfe9bd503dd61859c6b5e2278702bd473c15765a8
+size 25607187

Part2/Obstacle_avoidance/ball_0030_15/position_11/depth_02/simulation_data.csv

@@ -0,0 +1,406 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+1,0.016666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+2,0.033333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+3,0.050000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+4,0.066666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+5,0.083333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+6,0.100000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+7,0.116666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+8,0.133333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+9,0.150000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+10,0.166666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+11,0.183333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+12,0.200000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+13,0.216666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+14,0.233333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+15,0.250000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+16,0.266666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+17,0.283333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+18,0.300000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+19,0.316666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+20,0.333333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+21,0.350000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+22,0.366666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+23,0.383333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+24,0.400000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+25,0.416666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+26,0.433333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+27,0.450000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+28,0.466666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+29,0.483333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+30,0.500000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+31,0.516666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+32,0.533333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+33,0.550000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+34,0.566666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+35,0.583333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+36,0.600000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+37,0.616666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+38,0.633333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+39,0.650000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+40,0.666666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+41,0.683333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+42,0.700000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+43,0.716666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+44,0.733333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+45,0.750000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+46,0.766666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+47,0.783333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+48,0.800000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+49,0.816666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+50,0.833333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+51,0.850000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+52,0.866666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+53,0.883333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+54,0.900000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+55,0.916666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+56,0.933333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+57,0.950000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+58,0.966666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+59,0.983333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+60,1.000000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+61,1.016666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+62,1.033333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+63,1.050000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+64,1.066666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+65,1.083333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+66,1.100000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+67,1.116666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+68,1.133333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+69,1.150000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+70,1.166666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+71,1.183333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+72,1.200000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+73,1.216666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+74,1.233333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+75,1.250000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+76,1.266666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+77,1.283333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+78,1.300000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+79,1.316666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+80,1.333333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+81,1.350000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+82,1.366666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+83,1.383333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+84,1.400000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+85,1.416666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+86,1.433333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+87,1.450000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+88,1.466666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+89,1.483333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+90,1.500000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+91,1.516666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+92,1.533333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+93,1.550000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+94,1.566666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+95,1.583333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+96,1.600000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+97,1.616666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+98,1.633333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+99,1.650000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+100,1.666666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+101,1.683333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+102,1.700000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+103,1.716666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+104,1.733333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+105,1.750000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+106,1.766666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+107,1.783333333,pose1_to_pose2_press,0.580743526044,0.0100018042208,1.0600406973,0.551315244766,0.0186766295062,1.05967849416
+108,1.800000000,pose1_to_pose2_press,0.580743630006,0.0100017795687,1.06004079679,0.551315349748,0.0186766080837,1.05967858813
+109,1.816666667,pose1_to_pose2_press,0.580743753116,0.0100017627305,1.06004089445,0.551315473572,0.0186765935442,1.05967868286
+110,1.833333333,pose1_to_pose2_press,0.580743758195,0.0100017627958,1.06004089724,0.55131547865,0.0186765936105,1.05967868575
+111,1.850000000,pose1_to_pose2_press,0.58074383422,0.0100017637739,1.06004093899,0.551315554661,0.0186765946033,1.05967872901
+112,1.866666667,pose1_to_pose2_press,0.580743886612,0.010001764448,1.06004096776,0.551315607043,0.0186765952876,1.05967875882
+113,1.883333333,pose1_to_pose2_press,0.580744308135,0.0100018079572,1.06004104565,0.55131602812,0.0186766375512,1.05967884311
+114,1.900000000,pose1_to_pose2_press,0.580746075656,0.0100019545621,1.06004091348,0.551317794479,0.0186767804898,1.05967871746
+115,1.916666667,pose1_to_pose2_press,0.580750631227,0.010001926055,1.06004088748,0.551322349589,0.0186767500139,1.0596786818
+116,1.933333333,pose1_to_pose2_press,0.580761760543,0.0100019535417,1.06004097837,0.551333479031,0.0186767777189,1.05967876755
+117,1.950000000,pose1_to_pose2_press,0.580781543847,0.0100017873029,1.06004103981,0.55135326384,0.0186766166584,1.05967883072
+118,1.966666667,pose1_to_pose2_press,0.580810944727,0.0100018300974,1.06004084206,0.551382666298,0.0186766648814,1.05967863475
+119,1.983333333,pose1_to_pose2_press,0.580849412041,0.0100016928278,1.06004092469,0.551421134379,0.0186765301616,1.05967871604
+120,2.000000000,pose1_to_pose2_press,0.58089670959,0.0100018869248,1.060040886,0.551468427787,0.0186767103783,1.05967868129
+121,2.016666667,pose1_to_pose2_press,0.580950734429,0.0100018246599,1.06004081485,0.551522454101,0.0186766533613,1.05967861591
+122,2.033333333,pose1_to_pose2_press,0.581011216564,0.0100019216842,1.06004101238,0.551582935361,0.0186767471008,1.05967880584
+123,2.050000000,pose1_to_pose2_press,0.581080262189,0.0100019195371,1.06004102571,0.551651980992,0.0186767448617,1.05967881643
+124,2.066666667,pose1_to_pose2_press,0.581158684136,0.0100018320429,1.06004090627,0.551730403434,0.0186766591565,1.0596786996
+125,2.083333333,pose1_to_pose2_press,0.581249657969,0.0100018269404,1.06004076402,0.551821376426,0.0186766511304,1.05967855556
+126,2.100000000,pose1_to_pose2_press,0.581353375534,0.0100018183954,1.06004068799,0.551925094574,0.0186766445222,1.05967847851
+127,2.116666667,pose1_to_pose2_press,0.581472057136,0.0100019407212,1.06004089361,0.552043775799,0.0186767659165,1.05967869248
+128,2.133333333,pose1_to_pose2_press,0.581606875751,0.0100018712803,1.06004068968,0.552178594887,0.0186766982186,1.05967849183
+129,2.150000000,pose1_to_pose2_press,0.581759371831,0.0100019835427,1.06004083337,0.552331089329,0.0186768046214,1.05967862816
+130,2.166666667,pose1_to_pose2_press,0.581930158101,0.0100016934877,1.06004093533,0.552501881506,0.0186765346911,1.05967873217
+131,2.183333333,pose1_to_pose2_press,0.582118985574,0.0100017807417,1.06004071363,0.552690705924,0.018676611583,1.05967851042
+132,2.200000000,pose1_to_pose2_press,0.582326961716,0.0100018487003,1.06004070714,0.552898680307,0.018676673581,1.05967850408
+133,2.216666667,pose1_to_pose2_press,0.582553100741,0.0100018117898,1.06004089812,0.553124822178,0.0186766464035,1.05967869685
+134,2.233333333,pose1_to_pose2_press,0.582799012869,0.0100018942881,1.06004092538,0.553370731344,0.0186767188811,1.0596787247
+135,2.250000000,pose1_to_pose2_press,0.583063767134,0.010001841925,1.06004094911,0.553635486921,0.0186766707271,1.05967874262
+136,2.266666667,pose1_to_pose2_press,0.583347493107,0.0100018863053,1.06004076682,0.553919213294,0.0186767167199,1.05967856639
+137,2.283333333,pose1_to_pose2_press,0.58365321756,0.0100018492893,1.06004080197,0.554224937531,0.0186766786577,1.05967859403
+138,2.300000000,pose1_to_pose2_press,0.583979225365,0.0100018344495,1.06004085865,0.554550945048,0.0186766627278,1.05967864794
+139,2.316666667,pose1_to_pose2_press,0.584325440739,0.0100018587139,1.06004083398,0.554897160064,0.018676685969,1.05967862787
+140,2.333333333,pose1_to_pose2_press,0.5846889669,0.0100018845123,1.0600408641,0.555260686323,0.0186767123053,1.05967866278
+141,2.350000000,pose1_to_pose2_press,0.585069225888,0.0100019150486,1.06004085476,0.555640945361,0.0186767430769,1.05967865497
+142,2.366666667,pose1_to_pose2_press,0.585465665734,0.0100019010735,1.06004081374,0.556037384767,0.018676727236,1.05967860501
+143,2.383333333,pose1_to_pose2_press,0.585878735015,0.0100018761494,1.06004109047,0.556450454645,0.0186767041241,1.05967887658
+144,2.400000000,pose1_to_pose2_press,0.586321701416,0.0100018742071,1.06004093543,0.556893420505,0.0186767008147,1.05967873271
+145,2.416666667,pose1_to_pose2_press,0.586794545976,0.0100017926545,1.06004083638,0.557366266232,0.0186766230652,1.05967862986
+146,2.433333333,pose1_to_pose2_press,0.587297978546,0.0100018719921,1.06004095421,0.557869698706,0.0186767020787,1.05967874767
+147,2.450000000,pose1_to_pose2_press,0.587823052148,0.010001778389,1.06004085162,0.558394773252,0.0186766116573,1.05967864458
+148,2.466666667,pose1_to_pose2_press,0.58836605296,0.0100018879155,1.06004085646,0.558937771527,0.0186767123204,1.05967864325
+149,2.483333333,pose1_to_pose2_press,0.588920721011,0.0100017800512,1.06004074978,0.559492440753,0.0186766086455,1.05967854134
+150,2.500000000,pose1_to_pose2_press,0.589489892438,0.0100018275711,1.0600407733,0.560061612769,0.0186766584591,1.05967857195
+151,2.516666667,pose1_to_pose2_press,0.59008297153,0.0100018274989,1.06004090149,0.560654691755,0.018676657893,1.05967869688
+152,2.533333333,pose1_to_pose2_press,0.5907024014,0.0100017504511,1.06004099877,0.561274122975,0.0186765855665,1.05967879758
+153,2.550000000,pose1_to_pose2_press,0.591349678368,0.0100018294097,1.06004107467,0.561921399416,0.018676662539,1.05967886873
+154,2.566666667,pose1_to_pose2_press,0.592005612439,0.010001913853,1.06004100694,0.562577331487,0.0186767398746,1.05967879319
+155,2.583333333,pose1_to_pose2_press,0.592663685934,0.0100018203479,1.06004077215,0.563235405496,0.0186766486363,1.05967857086
+156,2.600000000,pose1_to_pose2_press,0.593328178237,0.0100017717881,1.06004068575,0.563899899015,0.0186766045548,1.05967849299
+157,2.616666667,pose1_to_pose2_press,0.594003149867,0.0100018335419,1.0600408404,0.564574870496,0.0186766653535,1.05967863682
+158,2.633333333,pose1_to_pose2_press,0.59469646709,0.0100018893976,1.06004093558,0.565268186046,0.0186767156077,1.05967873382
+159,2.650000000,pose1_to_pose2_press,0.595416706412,0.0100017726619,1.0600410905,0.56598842821,0.0186766080859,1.05967887846
+160,2.666666667,pose1_to_pose2_press,0.596166017669,0.0100017351791,1.06004087554,0.566737739489,0.0186765707507,1.05967866525
+161,2.683333333,pose1_to_pose2_press,0.596930311584,0.0100018402704,1.06004094009,0.567502030724,0.0186766669041,1.05967873351
+162,2.700000000,pose1_to_pose2_press,0.597706052981,0.0100018878528,1.06004088925,0.568277772337,0.0186767149679,1.05967867662
+163,2.716666667,pose1_to_pose2_press,0.598486249569,0.0100017961211,1.06004091543,0.569057969877,0.0186766268584,1.05967871231
+164,2.733333333,pose1_to_pose2_press,0.599262905568,0.0100017951101,1.06004079613,0.569834625316,0.0186766238599,1.05967859093
+165,2.750000000,pose1_to_pose2_press,0.60002526212,0.0100018422248,1.06004072304,0.570596981347,0.0186766691288,1.05967851599
+166,2.766666667,pose1_to_pose2_press,0.600787834766,0.0100018237438,1.06004077231,0.571359554357,0.0186766518771,1.05967856508
+167,2.783333333,pose1_to_pose2_press,0.601556877843,0.0100018903007,1.06004086345,0.572128596976,0.0186767170295,1.05967865985
+168,2.800000000,pose1_to_pose2_press,0.602335937205,0.0100020200414,1.06004092018,0.572907655147,0.0186768429529,1.059678722
+169,2.816666667,pose1_to_pose2_press,0.603134031246,0.01000189416,1.06004093933,0.573705749901,0.0186767193178,1.05967873691
+170,2.833333333,pose1_to_pose2_press,0.603963579029,0.010001938853,1.06004091469,0.574535296957,0.0186767616271,1.05967871432
+171,2.850000000,pose1_to_pose2_press,0.604803475305,0.0100018118642,1.06004086711,0.575375195481,0.0186766419632,1.05967865959
+172,2.866666667,pose1_to_pose2_press,0.605642549767,0.0100019698095,1.06004096161,0.576214265817,0.0186767858083,1.05967875166
+173,2.883333333,pose1_to_pose2_press,0.606458325027,0.0100018086295,1.06004083741,0.577030045365,0.0186766392637,1.05967862961
+174,2.900000000,pose1_to_pose2_press,0.607245989738,0.0100017931278,1.06004083541,0.577817711257,0.0186766278018,1.05967862848
+175,2.916666667,pose1_to_pose2_press,0.608010520064,0.0100018267025,1.06004090388,0.578582239305,0.0186766538991,1.05967870303
+176,2.933333333,pose1_to_pose2_press,0.608766558506,0.0100019033329,1.06004085159,0.579338276541,0.0186767263059,1.05967864757
+177,2.950000000,pose1_to_pose2_press,0.609534628985,0.0100018926547,1.06004077375,0.580106346793,0.0186767146293,1.05967856441
+178,2.966666667,pose1_to_pose2_press,0.610318185601,0.0100018798417,1.06004078443,0.580889904009,0.0186767039867,1.05967857834
+179,2.983333333,pose1_to_pose2_press,0.611113427889,0.0100018806993,1.06004083252,0.581685147706,0.0186767095625,1.05967862497
+180,3.000000000,pose1_to_pose2_press,0.611904983502,0.0100018604943,1.06004100021,0.582476703528,0.0186766896701,1.05967878334
+181,3.016666667,pose1_to_pose2_press,0.612680892752,0.0100018390514,1.06004091717,0.583252612988,0.0186766692515,1.05967870779
+182,3.033333333,pose1_to_pose2_press,0.613419797552,0.010001850095,1.06004066995,0.583991517395,0.0186766795564,1.05967847491
+183,3.050000000,pose1_to_pose2_press,0.614129586862,0.0100019167971,1.0600407076,0.584701304582,0.018676739078,1.05967851309
+184,3.066666667,pose1_to_pose2_press,0.61481149727,0.0100019838943,1.06004078215,0.585383214366,0.0186768038455,1.05967858264
+185,3.083333333,pose1_to_pose2_press,0.615483075548,0.010001907406,1.06004073612,0.58605479333,0.0186767293231,1.05967852806
+186,3.100000000,pose1_to_pose2_press,0.616149661886,0.0100018694744,1.060040847,0.586721381526,0.0186766976986,1.05967863904
+187,3.116666667,pose1_to_pose2_press,0.616816162134,0.0100017047982,1.06004094875,0.587387884923,0.0186765437453,1.05967874179
+188,3.133333333,pose1_to_pose2_press,0.617483240498,0.0100017411626,1.06004099968,0.588054962274,0.0186765763019,1.05967878396
+189,3.150000000,pose1_to_pose2_press,0.618145453484,0.0100019302484,1.06004086616,0.588717171667,0.0186767533966,1.05967865521
+190,3.166666667,pose1_to_pose2_press,0.618787804879,0.0100017860525,1.06004088643,0.589359524665,0.0186766143432,1.05967866857
+191,3.183333333,pose1_to_pose2_press,0.61940237418,0.0100018762815,1.06004083346,0.589974094114,0.0186767056248,1.05967862873
+192,3.200000000,pose1_to_pose2_press,0.619980188998,0.0100018730624,1.06004101883,0.59055190843,0.0186767007019,1.05967881445
+193,3.216666667,pose1_to_pose2_press,0.620523712007,0.0100018351773,1.06004099051,0.59109543163,0.0186766633643,1.05967878379
+194,3.233333333,pose1_to_pose2_press,0.621040882619,0.0100018179442,1.06004095101,0.591612602623,0.0186766474754,1.05967874516
+195,3.250000000,pose1_to_pose2_press,0.621534175646,0.0100019408232,1.06004088216,0.592105894067,0.0186767650436,1.05967867761
+196,3.266666667,pose1_to_pose2_press,0.62200258066,0.0100019627376,1.0600407395,0.592574298733,0.0186767861761,1.05967854363
+197,3.283333333,pose1_to_pose2_press,0.622453235645,0.0100018478945,1.06004065045,0.593024955146,0.0186766764777,1.05967845947
+198,3.300000000,pose1_to_pose2_press,0.622887455671,0.0100018698211,1.06004077521,0.593459174817,0.0186766966009,1.05967856711
+199,3.316666667,pose1_to_pose2_press,0.623303614579,0.010001839498,1.06004097068,0.593875334796,0.018676669848,1.05967875825
+200,3.333333333,pose1_to_pose2_press,0.623704252401,0.0100019223715,1.06004079096,0.594275971705,0.0186767503793,1.05967859422
+201,3.350000000,pose1_to_pose2_press,0.624091491897,0.0100017581261,1.06004096093,0.594663212231,0.0186765892872,1.0596787532
+202,3.366666667,pose1_to_pose2_press,0.624461878651,0.01000185534,1.06004102799,0.595033597989,0.0186766837367,1.0596788316
+203,3.383333333,pose1_to_pose2_press,0.624811705559,0.010002047444,1.06004101587,0.595383423697,0.0186768720701,1.05967882351
+204,3.400000000,pose1_to_pose2_press,0.625134211549,0.0100019582199,1.06004086218,0.595705930177,0.0186767840992,1.05967865819
+205,3.416666667,pose1_to_pose2_press,0.625427837834,0.0100019555607,1.0600410437,0.595999555848,0.0186767790576,1.05967882999
+206,3.433333333,pose1_to_pose2_press,0.625693217873,0.0100018679627,1.0600408456,0.596264936985,0.0186766956494,1.05967864058
+207,3.450000000,pose1_to_pose2_press,0.625934715922,0.01000183994,1.06004085883,0.596506435286,0.0186766688753,1.05967866124
+208,3.466666667,pose1_to_pose2_press,0.626155235305,0.0100018209185,1.06004096392,0.596726954595,0.0186766495354,1.05967876286
+209,3.483333333,pose1_to_pose2_press,0.626363321564,0.0100017684337,1.06004080734,0.59693504145,0.0186765988636,1.05967859915
+210,3.500000000,pose1_to_pose2_press,0.626560799269,0.0100019001115,1.06004072518,0.597132518088,0.0186767271831,1.05967852156
+211,3.516666667,pose1_to_pose2_press,0.62674572747,0.0100019287038,1.06004091099,0.59731744609,0.0186767554898,1.05967871516
+212,3.533333333,pose1_to_pose2_press,0.626917475605,0.0100018521033,1.06004084003,0.597489194436,0.0186766791936,1.05967863315
+213,3.550000000,pose1_to_pose2_press,0.627073068929,0.0100018506277,1.06004072495,0.597644786783,0.0186766745045,1.05967851894
+214,3.566666667,pose1_to_pose2_press,0.627212487546,0.0100017317745,1.06004086112,0.597784207539,0.0186765634963,1.05967866785
+215,3.583333333,pose1_to_pose2_press,0.627334528764,0.0100018324608,1.0600408249,0.597906247424,0.0186766595242,1.05967862721
+216,3.600000000,pose1_to_pose2_press,0.627440667907,0.0100017934313,1.0600408354,0.598012388143,0.0186766255258,1.05967862931
+217,3.616666667,pose1_to_pose2_press,0.627531184857,0.0100018356577,1.06004097178,0.598102903965,0.0186766639548,1.05967876546
+218,3.633333333,pose1_to_pose2_press,0.627609880788,0.0100018743486,1.06004096372,0.598181598833,0.0186766992081,1.05967875849
+219,3.650000000,pose1_to_pose2_press,0.627678285533,0.0100018202205,1.06004087242,0.598250005036,0.0186766500715,1.05967866524
+220,3.666666667,pose1_to_pose2_press,0.627736860326,0.0100017771393,1.0600409353,0.59830858107,0.0186766110857,1.05967872703
+221,3.683333333,pose1_to_pose2_press,0.627787286828,0.0100018582945,1.06004084068,0.59835900574,0.0186766859532,1.05967863401
+222,3.700000000,pose1_to_pose2_press,0.627829596988,0.0100019359008,1.06004090748,0.598401315889,0.018676763869,1.05967870888
+223,3.716666667,pose1_to_pose2_press,0.627864517676,0.0100018653709,1.06004094309,0.598436237342,0.0186766957271,1.05967873879
+224,3.733333333,pose1_to_pose2_press,0.627892543235,0.0100017503989,1.06004073821,0.598464263241,0.0186765821768,1.05967854187
+225,3.750000000,pose1_to_pose2_press,0.627914478561,0.0100017565454,1.06004067483,0.598486198532,0.0186765881955,1.05967847742
+226,3.766666667,pose1_to_pose2_press,0.62793154286,0.0100017930055,1.06004068137,0.598503263028,0.0186766253557,1.05967848232
+227,3.783333333,pose1_to_pose2_press,0.62794455404,0.0100017836037,1.06004076618,0.598516274662,0.01867661756,1.05967856698
+228,3.800000000,pose1_to_pose2_press,0.627954128636,0.0100017509141,1.06004107202,0.598525849461,0.0186765851499,1.05967886357
+229,3.816666667,pose1_to_pose2_press,0.627960313723,0.0100017447961,1.06004095112,0.598532035282,0.0186765818937,1.05967875066
+230,3.833333333,pose1_to_pose2_press,0.627964468313,0.0100017399728,1.06004090884,0.598536189616,0.018676576356,1.05967871241
+231,3.850000000,pose1_to_pose2_press,0.627967050954,0.0100017365717,1.06004090451,0.598538771672,0.0186765710234,1.05967870985
+232,3.866666667,pose1_to_pose2_press,0.627968561194,0.0100017574037,1.06004090878,0.598540281472,0.0186765903025,1.05967871291
+233,3.883333333,pose1_to_pose2_press,0.627969542589,0.010001775201,1.06004091283,0.598541262563,0.0186766070117,1.05967871575
+234,3.900000000,pose1_to_pose2_press,0.627970194492,0.0100017870231,1.06004091552,0.598541914264,0.018676618111,1.05967871763
+235,3.916666667,pose1_to_pose2_press,0.627970549002,0.010001792523,1.06004089119,0.598542268716,0.0186766233867,1.0596786926
+236,3.933333333,pose1_to_pose2_press,0.627970653468,0.0100017938761,1.06004087659,0.598542373179,0.0186766247223,1.05967867771
+237,3.950000000,pose1_to_pose2_press,0.627970866301,0.0100017966328,1.06004084685,0.598542586008,0.0186766274435,1.05967864738
+238,3.966666667,pose1_to_pose2_press,0.627971130319,0.0100018000525,1.06004080996,0.59854285002,0.0186766308191,1.05967860976
+239,3.983333333,pose1_to_pose2_press,0.627971240254,0.0100018014765,1.06004079459,0.598542959953,0.0186766322246,1.05967859409
+240,4.000000000,pose1_to_pose2_press,0.627971500296,0.0100018048446,1.06004075825,0.59854321999,0.0186766355494,1.05967855704
+241,4.016666667,pose1_to_pose2_press,0.627972065605,0.0100018414496,1.06004072527,0.598543784895,0.0186766707479,1.05967852298
+242,4.033333333,pose1_to_pose2_press,0.627972364682,0.0100019054742,1.060040778,0.598544083163,0.0186767320274,1.05967857587
+243,4.050000000,pose1_to_pose2_press,0.627972571709,0.0100019409847,1.06004079763,0.598544289761,0.0186767660898,1.05967859577
+244,4.066666667,pose1_to_pose2_press,0.627972722629,0.0100018255522,1.06004077785,0.598544443123,0.0186766592582,1.0596785842
+245,4.083333333,pose2_hold,0.627972722629,0.0100018255522,1.06004077785,0.598544443123,0.0186766592598,1.0596785842
+246,4.100000000,pose2_hold,0.627972722629,0.0100018255522,1.06004077785,0.598544443123,0.0186766592594,1.0596785842
+247,4.116666667,pose2_hold,0.627972722629,0.0100018255522,1.06004077785,0.598544443123,0.0186766592589,1.05967858419
+248,4.133333333,pose2_hold,0.627972722629,0.0100018255522,1.06004077785,0.598544443123,0.0186766592589,1.05967858419
+249,4.150000000,pose2_hold,0.627972722629,0.0100018255522,1.06004077785,0.598544443124,0.0186766592593,1.0596785842
+250,4.166666667,pose2_hold,0.627972722629,0.0100018255522,1.06004077785,0.598544443123,0.0186766592605,1.05967858419
+251,4.183333333,pose2_hold,0.627972722629,0.0100018255522,1.06004077785,0.598544443123,0.0186766592584,1.0596785842
+252,4.200000000,pose2_hold,0.627972722629,0.0100018255522,1.06004077785,0.598544443123,0.0186766592609,1.0596785842
+253,4.216666667,pose2_hold,0.627972722629,0.0100018255522,1.06004077785,0.598544443123,0.0186766592595,1.0596785842
+254,4.233333333,pose2_hold,0.627972722629,0.0100018255522,1.06004077785,0.598544443124,0.0186766592594,1.0596785842
+255,4.250000000,pose2_hold,0.627972722629,0.0100018255522,1.06004077785,0.598544443123,0.0186766592581,1.0596785842
+256,4.266666667,pose2_hold,0.627972722629,0.0100018255522,1.06004077785,0.598544443123,0.0186766592588,1.0596785842
+257,4.283333333,pose2_hold,0.627972722629,0.0100018255522,1.06004077785,0.598544443123,0.0186766592604,1.0596785842
+258,4.300000000,pose2_hold,0.627972722629,0.0100018255522,1.06004077785,0.598544443123,0.0186766592591,1.0596785842
+259,4.316666667,pose2_hold,0.627972722629,0.0100018255522,1.06004077785,0.598544443124,0.0186766592591,1.0596785842
+260,4.333333333,pose2_hold,0.627972722629,0.0100018255522,1.06004077785,0.598544443123,0.0186766592586,1.0596785842
+261,4.350000000,pose2_hold,0.627972722629,0.0100018255522,1.06004077785,0.598544443123,0.0186766592589,1.0596785842
+262,4.366666667,pose2_hold,0.627972722629,0.0100018255522,1.06004077785,0.598544443124,0.0186766592589,1.0596785842
+263,4.383333333,pose2_to_pose3_retreat,0.627972722629,0.0100018255522,1.06004077785,0.598544443125,0.0186766592582,1.05967858419
+264,4.400000000,pose2_to_pose3_retreat,0.62797251417,0.0100019498983,1.06004088386,0.59854423279,0.0186767765963,1.05967867485
+265,4.416666667,pose2_to_pose3_retreat,0.62797222305,0.0100018819436,1.06004103111,0.598543942806,0.018676712585,1.05967882439
+266,4.433333333,pose2_to_pose3_retreat,0.627971784485,0.0100018318082,1.06004092103,0.598543504196,0.0186766624471,1.05967871818
+267,4.450000000,pose2_to_pose3_retreat,0.627971420979,0.0100017902533,1.0600408298,0.598543140654,0.0186766208902,1.05967863014
+268,4.466666667,pose2_to_pose3_retreat,0.627971061943,0.0100017660409,1.06004078443,0.598542781646,0.0186765968284,1.05967858632
+269,4.483333333,pose2_to_pose3_retreat,0.62797053908,0.0100017575222,1.06004078946,0.598542258924,0.0186765887717,1.05967859103
+270,4.500000000,pose2_to_pose3_retreat,0.627968668266,0.0100017342422,1.06004080867,0.598540388583,0.0186765670436,1.05967860954
+271,4.516666667,pose2_to_pose3_retreat,0.627962881259,0.0100018631353,1.06004084836,0.598534601615,0.0186766963887,1.0596786575
+272,4.533333333,pose2_to_pose3_retreat,0.627950633601,0.0100018729163,1.06004087359,0.59852235263,0.0186767012237,1.05967867355
+273,4.550000000,pose2_to_pose3_retreat,0.627930111681,0.0100019681337,1.0600410019,0.598501829808,0.0186767927432,1.05967878973
+274,4.566666667,pose2_to_pose3_retreat,0.627898396387,0.0100019193988,1.06004067705,0.598470115304,0.018676747393,1.05967847373
+275,4.583333333,pose2_to_pose3_retreat,0.627855860919,0.0100018188478,1.06004066093,0.598427580987,0.018676650905,1.05967846396
+276,4.600000000,pose2_to_pose3_retreat,0.627802858644,0.0100018151545,1.06004086292,0.59837457836,0.0186766461897,1.05967866713
+277,4.616666667,pose2_to_pose3_retreat,0.627740873095,0.0100018207656,1.06004092353,0.598312594141,0.0186766562077,1.05967872608
+278,4.633333333,pose2_to_pose3_retreat,0.627670504693,0.0100018095836,1.06004077524,0.598242225135,0.0186766427788,1.05967857404
+279,4.650000000,pose2_to_pose3_retreat,0.627592424444,0.0100018718743,1.06004080836,0.598164143771,0.0186767014618,1.0596786137
+280,4.666666667,pose2_to_pose3_retreat,0.62750627447,0.0100019066131,1.0600409077,0.59807799305,0.018676733582,1.05967871325
+281,4.683333333,pose2_to_pose3_retreat,0.627408235419,0.0100018559695,1.06004092207,0.597979954375,0.0186766839632,1.05967872261
+282,4.700000000,pose2_to_pose3_retreat,0.627297410143,0.0100018232132,1.06004090764,0.597869129744,0.0186766534541,1.05967871057
+283,4.716666667,pose2_to_pose3_retreat,0.627170623145,0.0100018601571,1.06004095909,0.597742341485,0.0186766857225,1.05967875375
+284,4.733333333,pose2_to_pose3_retreat,0.62702644353,0.0100019477564,1.06004105934,0.59759816363,0.0186767793643,1.05967885715
+285,4.750000000,pose2_to_pose3_retreat,0.626863625005,0.0100018974164,1.06004076648,0.59743534296,0.0186767214321,1.05967855825
+286,4.766666667,pose2_to_pose3_retreat,0.62668359416,0.0100018016041,1.06004089414,0.597255314421,0.0186766334953,1.059678689
+287,4.783333333,pose2_to_pose3_retreat,0.626486931556,0.0100017256767,1.06004095722,0.597058653013,0.0186765615191,1.05967875125
+288,4.800000000,pose2_to_pose3_retreat,0.626272475119,0.0100018034904,1.06004097079,0.59684419523,0.0186766345856,1.05967876223
+289,4.816666667,pose2_to_pose3_retreat,0.626040971243,0.0100018738306,1.06004090443,0.596612690433,0.0186767018257,1.05967869852
+290,4.833333333,pose2_to_pose3_retreat,0.625790574021,0.0100019053281,1.0600408641,0.596362292948,0.0186767324404,1.05967866072
+291,4.850000000,pose2_to_pose3_retreat,0.625521927864,0.0100019470081,1.06004093884,0.596093645927,0.0186767709193,1.05967873123
+292,4.866666667,pose2_to_pose3_retreat,0.625235080373,0.0100017491267,1.06004082719,0.595806800494,0.0186765801072,1.05967862418
+293,4.883333333,pose2_to_pose3_retreat,0.62492877844,0.0100019144986,1.06004090083,0.595500497329,0.018676741512,1.05967870547
+294,4.900000000,pose2_to_pose3_retreat,0.624602573116,0.0100018198676,1.06004091443,0.59517429167,0.0186766455879,1.05967871794
+295,4.916666667,pose2_to_pose3_retreat,0.624249520554,0.0100018245305,1.06004088877,0.594821241588,0.0186766580732,1.05967868071
+296,4.933333333,pose2_to_pose3_retreat,0.623868534607,0.0100018548925,1.06004090919,0.594440254642,0.0186766849957,1.05967870281
+297,4.950000000,pose2_to_pose3_retreat,0.62345723242,0.010001929207,1.06004089643,0.594028951543,0.0186767560826,1.05967869041
+298,4.966666667,pose2_to_pose3_retreat,0.62301949525,0.0100019220959,1.06004095592,0.593591215041,0.0186767509229,1.05967874564
+299,4.983333333,pose2_to_pose3_retreat,0.622558214197,0.0100018078519,1.06004103128,0.593129934193,0.0186766374541,1.05967882548
+300,5.000000000,pose2_to_pose3_retreat,0.622082988941,0.0100017810912,1.06004092348,0.592654709666,0.0186766132737,1.05967872312
+301,5.016666667,pose2_to_pose3_retreat,0.621594971125,0.0100017982366,1.06004096027,0.592166692528,0.0186766323919,1.05967875305
+302,5.033333333,pose2_to_pose3_retreat,0.621090988592,0.0100018784972,1.06004095438,0.591662708165,0.018676706446,1.0596787472
+303,5.050000000,pose2_to_pose3_retreat,0.620564002605,0.0100020370422,1.06004098023,0.591135720168,0.0186768579977,1.05967876873
+304,5.066666667,pose2_to_pose3_retreat,0.620009609739,0.0100018967957,1.06004095158,0.590581327975,0.0186767202667,1.05967874569
+305,5.083333333,pose2_to_pose3_retreat,0.619425580272,0.0100018766447,1.06004085918,0.589997298068,0.0186766987061,1.05967865528
+306,5.100000000,pose2_to_pose3_retreat,0.618815777075,0.0100018829146,1.06004089573,0.589387495996,0.0186767087647,1.05967869125
+307,5.116666667,pose2_to_pose3_retreat,0.618187486631,0.0100018991821,1.06004089336,0.588759206265,0.0186767273859,1.05967868713
+308,5.133333333,pose2_to_pose3_retreat,0.617541306278,0.0100018482411,1.06004089035,0.588113027124,0.0186766805373,1.05967868371
+309,5.150000000,pose2_to_pose3_retreat,0.616871894694,0.0100017288651,1.06004104201,0.587443616888,0.0186765657218,1.05967883509
+310,5.166666667,pose2_to_pose3_retreat,0.616176572291,0.0100017008483,1.0600411148,0.586748292924,0.0186765323562,1.05967890594
+311,5.183333333,pose2_to_pose3_retreat,0.615453771699,0.0100017847859,1.06004082955,0.586025491762,0.0186766146071,1.05967862451
+312,5.200000000,pose2_to_pose3_retreat,0.614713292557,0.0100019271298,1.06004082674,0.585285012658,0.0186767573313,1.05967862668
+313,5.216666667,pose2_to_pose3_retreat,0.613964877346,0.0100017865047,1.06004091205,0.584536599274,0.018676622663,1.0596787112
+314,5.233333333,pose2_to_pose3_retreat,0.613221593676,0.0100017951408,1.06004074709,0.583793315492,0.0186766306658,1.05967853885
+315,5.250000000,pose2_to_pose3_retreat,0.612478501983,0.0100017204803,1.06004090772,0.583050224466,0.0186765584859,1.05967870464
+316,5.266666667,pose2_to_pose3_retreat,0.611729746807,0.0100018283333,1.06004083516,0.582301467133,0.0186766591576,1.05967863537
+317,5.283333333,pose2_to_pose3_retreat,0.610967299226,0.0100018551827,1.06004074262,0.58153901915,0.0186766845773,1.05967854121
+318,5.300000000,pose2_to_pose3_retreat,0.610187704027,0.0100019091543,1.06004076293,0.58075942257,0.0186767337986,1.05967855993
+319,5.316666667,pose2_to_pose3_retreat,0.609371702735,0.0100019052755,1.06004074525,0.579943421523,0.0186767309695,1.05967854751
+320,5.333333333,pose2_to_pose3_retreat,0.608536780015,0.0100018792675,1.06004076913,0.579108500045,0.0186767092393,1.05967857152
+321,5.350000000,pose2_to_pose3_retreat,0.607700132599,0.0100019492828,1.06004096037,0.578271851372,0.0186767747011,1.05967875381
+322,5.366666667,pose2_to_pose3_retreat,0.606864837332,0.0100018731187,1.06004093563,0.577436557695,0.0186767040934,1.05967873356
+323,5.383333333,pose2_to_pose3_retreat,0.606035373766,0.0100019622203,1.06004099918,0.576607091822,0.0186767849473,1.05967878687
+324,5.400000000,pose2_to_pose3_retreat,0.605223860527,0.0100019436422,1.06004110122,0.575795578051,0.0186767645393,1.05967888824
+325,5.416666667,pose2_to_pose3_retreat,0.604423603984,0.0100019070041,1.06004094081,0.574995320901,0.0186767263341,1.05967873952
+326,5.433333333,pose2_to_pose3_retreat,0.603624224018,0.0100018232104,1.06004093245,0.574195944561,0.0186766547968,1.05967873014
+327,5.450000000,pose2_to_pose3_retreat,0.602810648258,0.0100018289134,1.0600408648,0.57338236897,0.0186766610057,1.05967866083
+328,5.466666667,pose2_to_pose3_retreat,0.601971849854,0.0100018730958,1.06004091213,0.572543569891,0.0186767027056,1.05967870346
+329,5.483333333,pose2_to_pose3_retreat,0.601122052557,0.0100018379958,1.06004081465,0.571693773751,0.0186766717281,1.05967861071
+330,5.500000000,pose2_to_pose3_retreat,0.600266125171,0.0100017829773,1.06004075675,0.570837845697,0.0186766144296,1.05967855247
+331,5.516666667,pose2_to_pose3_retreat,0.599432454203,0.0100017598526,1.06004089883,0.570004173581,0.0186765871325,1.05967868781
+332,5.533333333,pose2_to_pose3_retreat,0.598630786653,0.0100017553989,1.06004090391,0.569202507056,0.0186765864892,1.05967870099
+333,5.550000000,pose2_to_pose3_retreat,0.597869240375,0.0100018231978,1.06004077298,0.568440960027,0.018676652206,1.05967858116
+334,5.566666667,pose2_to_pose3_retreat,0.597127551617,0.0100018975202,1.0600408162,0.567699270977,0.0186767251663,1.05967861546
+335,5.583333333,pose2_to_pose3_retreat,0.596394785525,0.0100017663327,1.0600409368,0.566966507203,0.0186766016686,1.05967873198
+336,5.600000000,pose2_to_pose3_retreat,0.595647944893,0.0100017863712,1.06004094985,0.566219666172,0.018676620311,1.05967874398
+337,5.616666667,pose2_to_pose3_retreat,0.594888263296,0.0100018103733,1.06004088081,0.565459984004,0.0186766422039,1.0596786708
+338,5.633333333,pose2_to_pose3_retreat,0.594119292076,0.0100017845582,1.06004084589,0.564691012296,0.0186766147228,1.05967863567
+339,5.650000000,pose2_to_pose3_retreat,0.593365689371,0.0100018623369,1.06004083332,0.563937407818,0.0186766866469,1.05967862695
+340,5.666666667,pose2_to_pose3_retreat,0.592651047172,0.0100018490257,1.06004076166,0.563222765938,0.0186766745012,1.05967855727
+341,5.683333333,pose2_to_pose3_retreat,0.591974227974,0.0100017325919,1.0600407911,0.56254594842,0.0186765638955,1.05967858985
+342,5.700000000,pose2_to_pose3_retreat,0.591335012947,0.0100017131257,1.0600408872,0.561906734191,0.0186765472064,1.05967868762
+343,5.716666667,pose2_to_pose3_retreat,0.590719435088,0.0100018509162,1.06004085923,0.561291155957,0.0186766834443,1.05967865303
+344,5.733333333,pose2_to_pose3_retreat,0.590117284405,0.0100019601679,1.06004096774,0.560689001473,0.0186767796532,1.05967875797
+345,5.750000000,pose2_to_pose3_retreat,0.589520693851,0.0100019071835,1.06004087341,0.560092412312,0.0186767313229,1.05967866196
+346,5.766666667,pose2_to_pose3_retreat,0.588927517902,0.0100018957495,1.06004092754,0.559499238516,0.0186767274192,1.05967872153
+347,5.783333333,pose2_to_pose3_retreat,0.588336989043,0.0100018920605,1.06004074908,0.558908708602,0.0186767203477,1.05967854778
+348,5.800000000,pose2_to_pose3_retreat,0.587775146807,0.0100018485315,1.0600407771,0.558346866032,0.0186766756202,1.05967857423
+349,5.816666667,pose2_to_pose3_retreat,0.587241107614,0.01000184063,1.06004090891,0.557812826843,0.0186766674893,1.05967870029
+350,5.833333333,pose2_to_pose3_retreat,0.586727713781,0.0100018606556,1.06004076691,0.557299432971,0.0186766874495,1.05967855992
+351,5.850000000,pose2_to_pose3_retreat,0.586238373182,0.0100018407793,1.06004069998,0.556810092041,0.0186766664938,1.05967849397
+352,5.866666667,pose2_to_pose3_retreat,0.58577920642,0.0100018001197,1.06004079357,0.556350924874,0.0186766244086,1.05967858638
+353,5.883333333,pose2_to_pose3_retreat,0.58534442426,0.0100018331988,1.06004069548,0.555916142896,0.0186766583123,1.05967849322
+354,5.900000000,pose2_to_pose3_retreat,0.58493519178,0.0100019299583,1.06004070741,0.555506910753,0.0186767561351,1.05967850346
+355,5.916666667,pose2_to_pose3_retreat,0.584555798134,0.0100018660875,1.06004070661,0.555127516933,0.0186766915898,1.05967850198
+356,5.933333333,pose2_to_pose3_retreat,0.584203305032,0.0100019338346,1.06004060505,0.554775023804,0.0186767591895,1.05967839868
+357,5.950000000,pose2_to_pose3_retreat,0.583873680054,0.010001885405,1.060040816,0.554445398012,0.0186767076449,1.05967860125
+358,5.966666667,pose2_to_pose3_retreat,0.583560631629,0.0100018498673,1.06004069661,0.554132350798,0.018676676406,1.05967848641
+359,5.983333333,pose2_to_pose3_retreat,0.583262750008,0.0100017902783,1.06004069905,0.553834470635,0.0186766221316,1.05967849773
+360,6.000000000,pose2_to_pose3_retreat,0.582978522521,0.0100018538847,1.06004082162,0.55355024223,0.0186766825906,1.05967861958
+361,6.016666667,pose2_to_pose3_retreat,0.582708794848,0.010001932744,1.06004094392,0.553280514047,0.0186767593989,1.05967873406
+362,6.033333333,pose2_to_pose3_retreat,0.582459667802,0.01000184738,1.06004101954,0.553031388763,0.0186766799542,1.05967880838
+363,6.050000000,pose2_to_pose3_retreat,0.582230809583,0.0100018423119,1.06004088149,0.552802529704,0.018676672076,1.05967867142
+364,6.066666667,pose2_to_pose3_retreat,0.582024648607,0.0100017285969,1.06004090086,0.55259636985,0.018676562202,1.05967869138
+365,6.083333333,pose2_to_pose3_retreat,0.581839144283,0.0100017801447,1.06004055617,0.552410863827,0.0186766084532,1.05967835806
+366,6.100000000,pose2_to_pose3_retreat,0.581674405548,0.0100019064355,1.06004058788,0.552246124633,0.0186767329422,1.0596783839
+367,6.116666667,pose2_to_pose3_retreat,0.58152716104,0.0100020069109,1.06004073001,0.552098878881,0.0186768289097,1.05967851927
+368,6.133333333,pose2_to_pose3_retreat,0.581396529241,0.0100019387615,1.06004081408,0.551968249087,0.018676767833,1.05967860983
+369,6.150000000,pose2_to_pose3_retreat,0.581280925345,0.0100020290684,1.06004085204,0.551852642766,0.0186768497709,1.05967864431
+370,6.166666667,pose2_to_pose3_retreat,0.581179296483,0.0100018008557,1.06004083842,0.551751016002,0.0186766286264,1.05967863101
+371,6.183333333,pose2_to_pose3_retreat,0.581092485905,0.010001910558,1.06004080815,0.551664203901,0.0186767334278,1.05967860673
+372,6.200000000,pose2_to_pose3_retreat,0.581018100721,0.0100018197767,1.06004071442,0.551589820578,0.0186766491947,1.05967851812
+373,6.216666667,pose2_to_pose3_retreat,0.580956090159,0.0100018682111,1.06004076145,0.551527810223,0.0186766981223,1.05967856006
+374,6.233333333,pose2_to_pose3_retreat,0.580905364077,0.0100019320523,1.06004078193,0.5514770834,0.0186767591696,1.05967857369
+375,6.250000000,pose2_to_pose3_retreat,0.58086453009,0.0100018114101,1.06004084283,0.551436250899,0.0186766433093,1.05967862834
+376,6.266666667,pose2_to_pose3_retreat,0.580833282557,0.0100017422491,1.06004100667,0.551405003619,0.0186765748194,1.05967878772
+377,6.283333333,pose2_to_pose3_retreat,0.580808698642,0.0100018913828,1.06004098444,0.551380415014,0.0186767083426,1.05967877269
+378,6.300000000,pose2_to_pose3_retreat,0.580790040431,0.0100018053256,1.06004104957,0.551361761114,0.0186766371969,1.05967884468
+379,6.316666667,pose2_to_pose3_retreat,0.580775776014,0.010001815129,1.06004091776,0.551347496781,0.0186766471749,1.05967871017
+380,6.333333333,pose2_to_pose3_retreat,0.580765564832,0.0100018425069,1.06004083013,0.551337285223,0.0186766733597,1.05967862462
+381,6.350000000,pose2_to_pose3_retreat,0.580757842459,0.0100018675285,1.06004080779,0.551329562405,0.0186766970666,1.05967860689
+382,6.366666667,pose2_to_pose3_retreat,0.580752488723,0.0100018818073,1.06004083226,0.551324207275,0.0186767065203,1.05967862907
+383,6.383333333,pose2_to_pose3_retreat,0.580749430143,0.0100019260853,1.06004085581,0.551321148665,0.0186767510328,1.05967866079
+384,6.400000000,pose2_to_pose3_retreat,0.580747333796,0.0100019660437,1.0600408745,0.5513190525,0.0186767919477,1.05967868761
+385,6.416666667,pose2_to_pose3_retreat,0.580746036474,0.0100019141309,1.06004084305,0.551317756172,0.0186767432114,1.05967865155
+386,6.433333333,pose2_to_pose3_retreat,0.580745295624,0.0100018763741,1.06004082053,0.551317015982,0.0186767075421,1.05967862539
+387,6.450000000,pose2_to_pose3_retreat,0.580744973774,0.0100018599712,1.06004081075,0.551316694419,0.0186766920461,1.05967861402
+388,6.466666667,pose2_to_pose3_retreat,0.580744834501,0.0100018566044,1.06004080315,0.551316555033,0.0186766882588,1.05967860545
+389,6.483333333,pose2_to_pose3_retreat,0.580744778468,0.0100018572498,1.0600407983,0.551316498829,0.0186766882992,1.05967860004
+390,6.500000000,pose2_to_pose3_retreat,0.580744553813,0.0100018598375,1.06004077883,0.551316273486,0.0186766884616,1.05967857835
+391,6.516666667,pose2_to_pose3_retreat,0.58074441221,0.0100018614685,1.06004076655,0.55131613145,0.0186766885639,1.05967856468
+392,6.533333333,pose2_to_pose3_retreat,0.580744347666,0.010001862212,1.06004076096,0.551316066708,0.0186766886105,1.05967855845
+393,6.550000000,pose2_to_pose3_retreat,0.580744220294,0.0100018636791,1.06004074992,0.551315938947,0.0186766887025,1.05967854615
+394,6.566666667,pose2_to_pose3_retreat,0.580744031551,0.0100018658531,1.06004073356,0.551315749625,0.0186766888389,1.05967852793
+395,6.583333333,pose2_to_pose3_retreat,0.580744025973,0.0100018659174,1.06004073308,0.55131574403,0.0186766888429,1.05967852739
+396,6.600000000,pose2_to_pose3_retreat,0.580744005904,0.0100018661486,1.06004073134,0.5513157239,0.0186766888574,1.05967852546
+397,6.616666667,pose2_to_pose3_retreat,0.580743869711,0.0100018616455,1.06004075903,0.551315587621,0.0186766840208,1.05967855216
+398,6.633333333,pose2_to_pose3_retreat,0.58074385552,0.010001859929,1.06004077003,0.551315573489,0.0186766825031,1.05967856313
+399,6.650000000,pose2_to_pose3_retreat,0.580743772474,0.010001849884,1.06004083441,0.551315490789,0.0186766736213,1.05967862731
+400,6.666666667,pose2_to_pose3_retreat,0.580743736928,0.0100018455844,1.06004086196,0.55131545539,0.0186766698196,1.05967865479
+401,6.683333333,pose2_to_pose3_retreat,0.580743718119,0.0100018433092,1.06004087654,0.551315436659,0.0186766678079,1.05967866933
+402,6.700000000,pose2_to_pose3_retreat,0.580743605643,0.010001825419,1.06004093963,0.551315324688,0.0186766516297,1.05967873233
+403,6.716666667,pose2_to_pose3_retreat,0.580743493489,0.0100017635105,1.06004075469,0.551315213433,0.018676592833,1.05967854897
+404,6.733333333,pose2_to_pose3_retreat,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186

Part2/Obstacle_avoidance/ball_0030_15/position_11/depth_03/fem_node.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a97a7d53de433f0cb1b059a2e1db6648577a1aefbb7af086ce81879a7fbf4520
+size 25678637

Part2/Obstacle_avoidance/ball_0030_15/position_11/depth_03/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,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+1,0.016666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+2,0.033333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+3,0.050000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+4,0.066666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+5,0.083333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+6,0.100000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+7,0.116666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+8,0.133333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+9,0.150000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+10,0.166666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+11,0.183333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+12,0.200000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+13,0.216666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+14,0.233333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+15,0.250000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+16,0.266666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+17,0.283333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+18,0.300000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+19,0.316666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+20,0.333333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+21,0.350000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+22,0.366666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+23,0.383333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+24,0.400000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+25,0.416666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+26,0.433333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+27,0.450000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+28,0.466666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+29,0.483333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+30,0.500000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+31,0.516666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+32,0.533333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+33,0.550000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+34,0.566666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+35,0.583333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+36,0.600000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+37,0.616666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+38,0.633333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+39,0.650000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+40,0.666666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+41,0.683333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+42,0.700000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+43,0.716666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+44,0.733333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+45,0.750000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+46,0.766666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+47,0.783333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+48,0.800000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+49,0.816666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+50,0.833333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+51,0.850000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+52,0.866666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+53,0.883333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+54,0.900000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+55,0.916666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+56,0.933333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+57,0.950000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+58,0.966666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+59,0.983333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+60,1.000000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+61,1.016666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+62,1.033333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+63,1.050000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+64,1.066666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+65,1.083333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+66,1.100000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+67,1.116666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+68,1.133333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+69,1.150000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+70,1.166666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+71,1.183333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+72,1.200000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+73,1.216666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+74,1.233333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+75,1.250000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+76,1.266666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+77,1.283333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+78,1.300000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+79,1.316666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+80,1.333333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+81,1.350000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+82,1.366666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+83,1.383333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+84,1.400000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+85,1.416666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+86,1.433333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+87,1.450000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+88,1.466666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+89,1.483333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+90,1.500000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+91,1.516666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+92,1.533333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+93,1.550000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+94,1.566666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+95,1.583333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+96,1.600000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+97,1.616666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+98,1.633333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+99,1.650000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+100,1.666666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+101,1.683333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+102,1.700000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+103,1.716666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+104,1.733333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+105,1.750000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+106,1.766666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+107,1.783333333,pose1_to_pose2_press,0.580743526044,0.0100018042208,1.0600406973,0.551315244766,0.0186766295062,1.05967849416
+108,1.800000000,pose1_to_pose2_press,0.580743677212,0.0100017683749,1.06004084197,0.551315397417,0.0186765983563,1.0596786308
+109,1.816666667,pose1_to_pose2_press,0.580743787823,0.010001763177,1.06004091351,0.551315508272,0.0186765939974,1.05967870261
+110,1.833333333,pose1_to_pose2_press,0.580743791807,0.0100017632283,1.0600409157,0.551315512255,0.0186765940494,1.05967870487
+111,1.850000000,pose1_to_pose2_press,0.580743908294,0.0100017647269,1.06004097967,0.551315628721,0.0186765955707,1.05967877115
+112,1.866666667,pose1_to_pose2_press,0.580744131122,0.0100017714627,1.06004106995,0.551315851497,0.0186766022959,1.05967886532
+113,1.883333333,pose1_to_pose2_press,0.580744248112,0.0100017841728,1.06004104125,0.551315968438,0.0186766148727,1.05967883745
+114,1.900000000,pose1_to_pose2_press,0.580744717823,0.0100018352035,1.06004092603,0.551316437951,0.0186766653684,1.05967872555
+115,1.916666667,pose1_to_pose2_press,0.580746604631,0.010001901511,1.06004080772,0.551318324042,0.0186767292753,1.05967860788
+116,1.933333333,pose1_to_pose2_press,0.580753270909,0.0100019220193,1.06004079726,0.551324987691,0.0186767410356,1.05967860158
+117,1.950000000,pose1_to_pose2_press,0.580767120235,0.0100019200613,1.0600407694,0.551338838183,0.0186767428603,1.05967856951
+118,1.966666667,pose1_to_pose2_press,0.580790974829,0.0100018742468,1.06004081718,0.551362692496,0.0186766957326,1.0596786086
+119,1.983333333,pose1_to_pose2_press,0.58082488549,0.0100018697757,1.06004062131,0.551396604386,0.0186766957476,1.05967842023
+120,2.000000000,pose1_to_pose2_press,0.580869227633,0.010001986178,1.06004073011,0.551440945013,0.0186768066181,1.0596785197
+121,2.016666667,pose1_to_pose2_press,0.58092118639,0.0100018745622,1.06004088556,0.551492906256,0.0186767033108,1.05967867205
+122,2.033333333,pose1_to_pose2_press,0.580979804137,0.0100018550898,1.0600410301,0.551551523526,0.0186766819589,1.05967881034
+123,2.050000000,pose1_to_pose2_press,0.581045055726,0.0100018434827,1.06004110839,0.55161677413,0.018676667083,1.05967889024
+124,2.066666667,pose1_to_pose2_press,0.581117282501,0.0100018693938,1.0600409413,0.551689002694,0.018676699731,1.05967873913
+125,2.083333333,pose1_to_pose2_press,0.581201300959,0.0100017326897,1.06004093805,0.551773022503,0.0186765675616,1.05967873467
+126,2.100000000,pose1_to_pose2_press,0.581297809396,0.0100018748856,1.06004106467,0.551869530105,0.0186767067677,1.05967885746
+127,2.116666667,pose1_to_pose2_press,0.581409725204,0.0100018710408,1.06004090264,0.551981445793,0.0186767024664,1.05967869422
+128,2.133333333,pose1_to_pose2_press,0.58153697828,0.0100018935301,1.0600408971,0.552108698144,0.0186767228421,1.05967869701
+129,2.150000000,pose1_to_pose2_press,0.581681302411,0.0100018034335,1.06004097651,0.55225302245,0.018676632928,1.05967876648
+130,2.166666667,pose1_to_pose2_press,0.58184332832,0.0100018347984,1.06004097019,0.552415048678,0.0186766654416,1.05967876169
+131,2.183333333,pose1_to_pose2_press,0.582023062088,0.0100017698885,1.06004081783,0.55259478265,0.0186766012916,1.05967861094
+132,2.200000000,pose1_to_pose2_press,0.582221705239,0.0100017958023,1.06004092663,0.552793424937,0.0186766240981,1.05967871544
+133,2.216666667,pose1_to_pose2_press,0.582438500614,0.0100018689562,1.06004108015,0.553010219519,0.0186766947525,1.05967887349
+134,2.233333333,pose1_to_pose2_press,0.582674911775,0.0100018149719,1.06004099482,0.553246631373,0.0186766433998,1.0596787948
+135,2.250000000,pose1_to_pose2_press,0.582930291601,0.0100017605047,1.06004097673,0.5535020128,0.018676594295,1.05967877503
+136,2.266666667,pose1_to_pose2_press,0.583205010144,0.010001775639,1.06004097411,0.553776731488,0.0186766099083,1.05967877204
+137,2.283333333,pose1_to_pose2_press,0.583502408607,0.0100018047215,1.06004091661,0.554074128709,0.0186766347993,1.05967871504
+138,2.300000000,pose1_to_pose2_press,0.583821310237,0.0100017167982,1.06004115095,0.554393031967,0.0186765520442,1.05967894082
+139,2.316666667,pose1_to_pose2_press,0.584161739513,0.0100019313086,1.06004095033,0.554733458312,0.0186767572187,1.0596787547
+140,2.333333333,pose1_to_pose2_press,0.584519322986,0.010001791496,1.06004114906,0.555091042794,0.018676620566,1.05967894708
+141,2.350000000,pose1_to_pose2_press,0.584892431281,0.0100018832965,1.06004097448,0.55546415183,0.0186767144554,1.0596787623
+142,2.366666667,pose1_to_pose2_press,0.585280322313,0.0100016894268,1.06004097219,0.555852044478,0.0186765261801,1.05967876261
+143,2.383333333,pose1_to_pose2_press,0.585684773205,0.0100017207973,1.06004107523,0.556256493901,0.0186765525408,1.05967886497
+144,2.400000000,pose1_to_pose2_press,0.586117360724,0.0100018935716,1.06004082356,0.556689079745,0.018676719646,1.05967861362
+145,2.416666667,pose1_to_pose2_press,0.58657936087,0.0100018229752,1.06004071968,0.557151081552,0.0186766547909,1.05967851222
+146,2.433333333,pose1_to_pose2_press,0.587073993491,0.0100018745812,1.06004078364,0.557645713855,0.018676705447,1.05967857923
+147,2.450000000,pose1_to_pose2_press,0.587592013428,0.0100018427635,1.06004081924,0.558163733298,0.0186766720121,1.05967861624
+148,2.466666667,pose1_to_pose2_press,0.588128781992,0.0100018620839,1.06004083506,0.55870050119,0.018676688891,1.05967862815
+149,2.483333333,pose1_to_pose2_press,0.588677914265,0.0100017916385,1.06004089033,0.559249634273,0.0186766212088,1.05967868368
+150,2.500000000,pose1_to_pose2_press,0.589241173539,0.010001707541,1.0600409243,0.559812894682,0.0186765412522,1.05967872462
+151,2.516666667,pose1_to_pose2_press,0.589827997337,0.0100018103446,1.06004087705,0.560399718073,0.0186766428018,1.05967868035
+152,2.533333333,pose1_to_pose2_press,0.590441508598,0.0100017940692,1.06004075395,0.561013229572,0.01867662712,1.05967855209
+153,2.550000000,pose1_to_pose2_press,0.5910838893,0.0100017895238,1.06004062907,0.561655608945,0.0186766178135,1.0596784212
+154,2.566666667,pose1_to_pose2_press,0.591741054069,0.0100018569706,1.06004070307,0.562312774186,0.0186766870247,1.05967849904
+155,2.583333333,pose1_to_pose2_press,0.592407548963,0.0100018234458,1.06004072787,0.562979269245,0.0186766542055,1.05967852739
+156,2.600000000,pose1_to_pose2_press,0.593072651746,0.0100019862942,1.06004105351,0.563644370761,0.0186768127118,1.05967885191
+157,2.616666667,pose1_to_pose2_press,0.593741650616,0.0100018576728,1.06004109494,0.564313370673,0.0186766872653,1.0596788847
+158,2.633333333,pose1_to_pose2_press,0.594429235091,0.010001918197,1.06004079972,0.565000953846,0.018676743353,1.05967858905
+159,2.650000000,pose1_to_pose2_press,0.595141452521,0.0100019552432,1.06004088832,0.565713171392,0.0186767810761,1.05967868439
+160,2.666666667,pose1_to_pose2_press,0.595880567229,0.0100018866351,1.06004104641,0.566452287031,0.0186767154871,1.05967883919
+161,2.683333333,pose1_to_pose2_press,0.596646372064,0.0100018173263,1.06004081386,0.567218092407,0.0186766483353,1.0596786143
+162,2.700000000,pose1_to_pose2_press,0.597432975337,0.0100018491027,1.06004080536,0.568004694536,0.0186766763897,1.05967860962
+163,2.716666667,pose1_to_pose2_press,0.598224259187,0.0100018371326,1.06004092776,0.568795978203,0.0186766635946,1.05967872712
+164,2.733333333,pose1_to_pose2_press,0.599013559191,0.0100018828788,1.06004093248,0.569585278133,0.0186767090599,1.05967873111
+165,2.750000000,pose1_to_pose2_press,0.599791964425,0.0100019194607,1.06004088055,0.570363683403,0.0186767457962,1.05967867999
+166,2.766666667,pose1_to_pose2_press,0.600564565162,0.0100018263669,1.06004078714,0.571136285319,0.0186766565773,1.05967858364
+167,2.783333333,pose1_to_pose2_press,0.601334239254,0.010001821389,1.06004068877,0.571905959215,0.0186766509143,1.05967848482
+168,2.800000000,pose1_to_pose2_press,0.602116300687,0.0100019381235,1.0600405726,0.572688018565,0.0186767608623,1.05967837535
+169,2.816666667,pose1_to_pose2_press,0.602916765023,0.0100018567543,1.06004081202,0.573488483839,0.0186766825686,1.05967861226
+170,2.833333333,pose1_to_pose2_press,0.60374400065,0.0100018696845,1.06004084108,0.574315721,0.0186767002668,1.05967863086
+171,2.850000000,pose1_to_pose2_press,0.604590277782,0.0100018886129,1.06004091405,0.575161996617,0.0186767145425,1.05967871557
+172,2.866666667,pose1_to_pose2_press,0.605452355874,0.010001831474,1.06004080464,0.576024076508,0.0186766635731,1.05967860784
+173,2.883333333,pose1_to_pose2_press,0.606297175446,0.0100017569122,1.06004090963,0.57686889628,0.0186765896176,1.0596787111
+174,2.900000000,pose1_to_pose2_press,0.607117877653,0.0100018633241,1.06004069964,0.57768959755,0.0186766930413,1.05967850568
+175,2.916666667,pose1_to_pose2_press,0.607909552316,0.0100018099605,1.06004081046,0.578481272045,0.0186766385177,1.0596786025
+176,2.933333333,pose1_to_pose2_press,0.608681910191,0.0100018448083,1.06004082447,0.579253628818,0.0186766697986,1.05967862061
+177,2.950000000,pose1_to_pose2_press,0.609455570355,0.0100018761258,1.06004082343,0.580027288509,0.0186766995045,1.05967861954
+178,2.966666667,pose1_to_pose2_press,0.610242023043,0.010001866532,1.06004088932,0.580813741462,0.0186766907179,1.05967868331
+179,2.983333333,pose1_to_pose2_press,0.611043064985,0.0100018621615,1.0600409546,0.581614783975,0.0186766883322,1.05967874975
+180,3.000000000,pose1_to_pose2_press,0.611854567794,0.0100019085208,1.0600410172,0.582426287438,0.0186767367409,1.05967880833
+181,3.016666667,pose1_to_pose2_press,0.612663511192,0.0100020009197,1.06004105284,0.5832352302,0.0186768268939,1.05967884192
+182,3.033333333,pose1_to_pose2_press,0.613438904142,0.0100019611493,1.06004092968,0.584010622785,0.0186767859638,1.05967872072
+183,3.050000000,pose1_to_pose2_press,0.614181794161,0.0100017952828,1.06004080928,0.58475351452,0.018676626028,1.059678603
+184,3.066666667,pose1_to_pose2_press,0.614889068808,0.0100017888532,1.06004081227,0.585460789149,0.018676619072,1.05967859485
+185,3.083333333,pose1_to_pose2_press,0.615578475008,0.0100017947629,1.06004104918,0.586150195222,0.0186766249732,1.05967884203
+186,3.100000000,pose1_to_pose2_press,0.616257608505,0.0100017837029,1.06004072915,0.586829327728,0.0186766106444,1.05967852423
+187,3.116666667,pose1_to_pose2_press,0.61694377308,0.0100018569676,1.0600409159,0.587515492261,0.0186766837477,1.05967871065
+188,3.133333333,pose1_to_pose2_press,0.617636949877,0.0100019349725,1.06004095067,0.588208668942,0.0186767613067,1.05967874418
+189,3.150000000,pose1_to_pose2_press,0.618328453799,0.0100018796497,1.06004074487,0.588900174025,0.0186767100858,1.05967854239
+190,3.166666667,pose1_to_pose2_press,0.61900373139,0.0100019179939,1.06004076795,0.58957545082,0.0186767460148,1.05967857236
+191,3.183333333,pose1_to_pose2_press,0.619653653746,0.0100018791213,1.06004102893,0.590225372973,0.0186767060396,1.05967882312
+192,3.200000000,pose1_to_pose2_press,0.620263823882,0.0100017306942,1.06004112492,0.590835545886,0.0186765665116,1.05967890716
+193,3.216666667,pose1_to_pose2_press,0.620837920227,0.0100017338711,1.06004092168,0.591409640575,0.0186765644052,1.05967871227
+194,3.233333333,pose1_to_pose2_press,0.621385820086,0.0100017899744,1.06004083149,0.591957540046,0.0186766193215,1.05967862585
+195,3.250000000,pose1_to_pose2_press,0.621908551498,0.0100018904693,1.06004084388,0.592480270724,0.0186767172621,1.05967863553
+196,3.266666667,pose1_to_pose2_press,0.622403544725,0.0100018982221,1.06004087701,0.592975264182,0.0186767260766,1.05967867218
+197,3.283333333,pose1_to_pose2_press,0.622878119091,0.0100018292409,1.06004085744,0.593449840054,0.0186766625316,1.05967865739
+198,3.300000000,pose1_to_pose2_press,0.623334602687,0.0100019298041,1.06004070144,0.593906321607,0.0186767561156,1.05967849743
+199,3.316666667,pose1_to_pose2_press,0.623774914126,0.0100020263622,1.06004065519,0.594346631545,0.0186768481558,1.05967846175
+200,3.333333333,pose1_to_pose2_press,0.624202014678,0.0100019691634,1.06004055578,0.594773732147,0.018676791117,1.05967835894
+201,3.350000000,pose1_to_pose2_press,0.624619304124,0.0100018235725,1.06004044549,0.595191023551,0.0186766522387,1.05967824712
+202,3.366666667,pose1_to_pose2_press,0.625019379936,0.0100019441361,1.06004079751,0.595591097624,0.0186767668187,1.05967859415
+203,3.383333333,pose1_to_pose2_press,0.62539415561,0.0100019160582,1.06004102668,0.595965874285,0.0186767423014,1.05967882534
+204,3.400000000,pose1_to_pose2_press,0.625740228702,0.0100019480097,1.06004092467,0.5963119483,0.0186767778031,1.0596787305
+205,3.416666667,pose1_to_pose2_press,0.626056441922,0.01000181225,1.06004086873,0.596628162158,0.0186766438123,1.05967866217
+206,3.433333333,pose1_to_pose2_press,0.626342257723,0.0100017997667,1.06004076071,0.596913978337,0.0186766327595,1.05967855433
+207,3.450000000,pose1_to_pose2_press,0.626604213257,0.0100018609243,1.06004082715,0.597175933511,0.0186766928037,1.05967862124
+208,3.466666667,pose1_to_pose2_press,0.626848581509,0.0100018903989,1.06004095862,0.597420300776,0.0186767189995,1.05967875281
+209,3.483333333,pose1_to_pose2_press,0.627080894428,0.0100018747254,1.06004092619,0.597652612898,0.0186767009863,1.05967872718
+210,3.500000000,pose1_to_pose2_press,0.627302307891,0.0100018993726,1.06004094226,0.597874026459,0.0186767259031,1.05967873959
+211,3.516666667,pose1_to_pose2_press,0.627510553831,0.0100019546624,1.06004099217,0.598082270209,0.0186767733913,1.05967877879
+212,3.533333333,pose1_to_pose2_press,0.627704254036,0.0100018235851,1.06004108533,0.598275973254,0.0186766521843,1.05967887591
+213,3.550000000,pose1_to_pose2_press,0.627878831629,0.0100018366631,1.06004082764,0.598450552618,0.0186766718116,1.05967863047
+214,3.566666667,pose1_to_pose2_press,0.628034814988,0.0100018044811,1.06004082526,0.598606535561,0.0186766380589,1.05967862198
+215,3.583333333,pose1_to_pose2_press,0.628171010626,0.0100017609181,1.06004090278,0.59874273241,0.0186765987032,1.05967870054
+216,3.600000000,pose1_to_pose2_press,0.628292033974,0.0100017670993,1.06004094018,0.5988637547,0.0186766013084,1.05967873724
+217,3.616666667,pose1_to_pose2_press,0.628399236967,0.0100018342171,1.06004097184,0.598970956079,0.0186766627196,1.05967876243
+218,3.633333333,pose1_to_pose2_press,0.628495867399,0.0100018930088,1.06004097029,0.599067586036,0.0186767199306,1.05967876072
+219,3.650000000,pose1_to_pose2_press,0.628582562184,0.0100018464751,1.06004090321,0.599154281095,0.0186766746347,1.05967869882
+220,3.666666667,pose1_to_pose2_press,0.62865902356,0.0100017397799,1.06004085079,0.59923074278,0.0186765687875,1.05967863903
+221,3.683333333,pose1_to_pose2_press,0.628725512204,0.0100018033291,1.06004084829,0.599297231632,0.0186766330742,1.05967864294
+222,3.700000000,pose1_to_pose2_press,0.628781355416,0.0100019420327,1.06004089732,0.599353073012,0.0186767659438,1.05967870178
+223,3.716666667,pose1_to_pose2_press,0.62882673366,0.0100019806193,1.06004091549,0.599398452334,0.0186768083097,1.05967871851
+224,3.733333333,pose1_to_pose2_press,0.628862052043,0.0100019062934,1.06004092541,0.599433771655,0.0186767370804,1.05967872568
+225,3.750000000,pose1_to_pose2_press,0.628890146757,0.0100017963008,1.06004096268,0.599461866998,0.01867662917,1.05967875668
+226,3.766666667,pose1_to_pose2_press,0.628912208046,0.0100017555404,1.06004091305,0.59948392862,0.0186765889773,1.05967869848
+227,3.783333333,pose1_to_pose2_press,0.628929123376,0.0100018142102,1.06004088926,0.59950084269,0.0186766437571,1.05967868371
+228,3.800000000,pose1_to_pose2_press,0.628942542411,0.0100019136344,1.06004087246,0.599514260335,0.0186767388786,1.05967867572
+229,3.816666667,pose1_to_pose2_press,0.628952642604,0.0100019761132,1.06004080731,0.599524360447,0.0186768005794,1.05967860299
+230,3.833333333,pose1_to_pose2_press,0.628959782366,0.0100019616044,1.06004067166,0.599531499265,0.0186767833823,1.05967847919
+231,3.850000000,pose1_to_pose2_press,0.62896461837,0.0100019166319,1.06004066914,0.599536337221,0.0186767449944,1.05967847502
+232,3.866666667,pose1_to_pose2_press,0.628967620916,0.0100018325847,1.06004073326,0.599539341373,0.0186766661976,1.05967853357
+233,3.883333333,pose1_to_pose2_press,0.628969616631,0.0100017250805,1.06004083008,0.599541338214,0.01867656226,1.05967862339
+234,3.900000000,pose1_to_pose2_press,0.628970929989,0.0100018773366,1.06004077117,0.599542649325,0.0186767069265,1.05967856495
+235,3.916666667,pose1_to_pose2_press,0.628971546946,0.0100019827761,1.06004072485,0.599543264772,0.0186768072895,1.05967851962
+236,3.933333333,pose1_to_pose2_press,0.628971583356,0.0100019889986,1.06004072212,0.599543301093,0.0186768132125,1.05967851694
+237,3.950000000,pose1_to_pose2_press,0.628971716374,0.0100020117317,1.06004071213,0.599543433785,0.0186768348511,1.05967850717
+238,3.966666667,pose1_to_pose2_press,0.628971871823,0.0100019753309,1.06004073114,0.599543589551,0.0186767995409,1.05967852649
+239,3.983333333,pose1_to_pose2_press,0.628971969719,0.010001948088,1.06004074522,0.599543687693,0.0186767731474,1.05967854078
+240,4.000000000,pose1_to_pose2_press,0.628972159017,0.0100018954092,1.06004077245,0.599543877469,0.018676722111,1.05967856839
+241,4.016666667,pose1_to_pose2_press,0.628972503724,0.0100018094416,1.06004083541,0.599544223007,0.0186766390032,1.05967863201
+242,4.033333333,pose1_to_pose2_press,0.628972607929,0.0100018151002,1.06004089697,0.599544327336,0.0186766451103,1.05967869363
+243,4.050000000,pose1_to_pose2_press,0.628972620545,0.0100018157852,1.06004090443,0.599544339967,0.0186766458496,1.05967870108
+244,4.066666667,pose1_to_pose2_press,0.6289726916,0.0100018059696,1.06004082018,0.599544411007,0.0186766360387,1.05967861807
+245,4.083333333,pose1_to_pose2_press,0.628972711826,0.0100017777482,1.06004056146,0.599544431043,0.018676607258,1.05967836194
+246,4.100000000,pose1_to_pose2_press,0.628972711826,0.0100017777482,1.06004056146,0.599544431044,0.0186766072554,1.05967836193
+247,4.116666667,pose2_hold,0.628972711826,0.0100017777482,1.06004056146,0.599544431044,0.0186766072556,1.05967836193
+248,4.133333333,pose2_hold,0.628972711826,0.0100017777482,1.06004056146,0.599544431044,0.0186766072555,1.05967836193
+249,4.150000000,pose2_hold,0.628972711826,0.0100017777482,1.06004056146,0.599544431044,0.0186766072556,1.05967836193
+250,4.166666667,pose2_hold,0.628972711826,0.0100017777482,1.06004056146,0.599544431044,0.0186766072554,1.05967836193
+251,4.183333333,pose2_hold,0.628972711826,0.0100017777482,1.06004056146,0.599544431044,0.0186766072551,1.05967836193
+252,4.200000000,pose2_hold,0.628972711826,0.0100017777482,1.06004056146,0.599544431045,0.0186766072546,1.05967836193
+253,4.216666667,pose2_hold,0.628972711826,0.0100017777482,1.06004056146,0.599544431044,0.0186766072561,1.05967836193
+254,4.233333333,pose2_hold,0.628972711826,0.0100017777482,1.06004056146,0.599544431044,0.0186766072564,1.05967836193
+255,4.250000000,pose2_hold,0.628972711826,0.0100017777482,1.06004056146,0.599544431044,0.0186766072532,1.05967836193
+256,4.266666667,pose2_hold,0.628972711826,0.0100017777482,1.06004056146,0.599544431044,0.018676607257,1.05967836193
+257,4.283333333,pose2_hold,0.628972711826,0.0100017777482,1.06004056146,0.599544431045,0.0186766072559,1.05967836193
+258,4.300000000,pose2_hold,0.628972711826,0.0100017777482,1.06004056146,0.599544431045,0.0186766072538,1.05967836193
+259,4.316666667,pose2_hold,0.628972711826,0.0100017777482,1.06004056146,0.599544431044,0.0186766072532,1.05967836193
+260,4.333333333,pose2_hold,0.628972711826,0.0100017777482,1.06004056146,0.599544431044,0.0186766072553,1.05967836193
+261,4.350000000,pose2_hold,0.628972711826,0.0100017777482,1.06004056146,0.599544431045,0.0186766072541,1.05967836193
+262,4.366666667,pose2_hold,0.628972711826,0.0100017777482,1.06004056146,0.599544431044,0.0186766072524,1.05967836192
+263,4.383333333,pose2_to_pose3_retreat,0.628972711826,0.0100017777482,1.06004056146,0.599544431045,0.0186766072538,1.05967836193
+264,4.400000000,pose2_to_pose3_retreat,0.628972717906,0.010001772538,1.06004062224,0.599544437323,0.0186766026169,1.05967842033
+265,4.416666667,pose2_to_pose3_retreat,0.628972726101,0.0100017655156,1.06004070415,0.599544445785,0.0186765963671,1.05967849905
+266,4.433333333,pose2_to_pose3_retreat,0.628972658929,0.0100017360562,1.06004085315,0.599544379057,0.0186765682162,1.05967864347
+267,4.450000000,pose2_to_pose3_retreat,0.628972652133,0.0100017347389,1.06004085255,0.599544372256,0.0186765668853,1.05967864299
+268,4.466666667,pose2_to_pose3_retreat,0.628972454131,0.0100016963576,1.06004083494,0.599544174099,0.0186765281057,1.05967862895
+269,4.483333333,pose2_to_pose3_retreat,0.628972217295,0.0100016958749,1.06004082928,0.599543937161,0.018676527304,1.05967862419
+270,4.500000000,pose2_to_pose3_retreat,0.628971205648,0.0100017758245,1.06004083287,0.599542925228,0.0186766061746,1.05967862554
+271,4.516666667,pose2_to_pose3_retreat,0.628968273974,0.0100018457021,1.06004087128,0.599539994317,0.0186766790039,1.05967867285
+272,4.533333333,pose2_to_pose3_retreat,0.628961058271,0.0100017691035,1.0600406757,0.599532778186,0.018676600921,1.05967847646
+273,4.550000000,pose2_to_pose3_retreat,0.62894816452,0.0100018683749,1.06004071498,0.599519882585,0.0186766937796,1.05967851378
+274,4.566666667,pose2_to_pose3_retreat,0.628925304533,0.0100019368839,1.06004091013,0.599497023099,0.0186767642148,1.0596787145
+275,4.583333333,pose2_to_pose3_retreat,0.628892377206,0.0100018781535,1.06004092336,0.599464096257,0.0186767071893,1.0596787247
+276,4.600000000,pose2_to_pose3_retreat,0.62884865657,0.0100017386416,1.06004086135,0.599420377129,0.0186765726364,1.05967865786
+277,4.616666667,pose2_to_pose3_retreat,0.628795632182,0.0100016846183,1.06004092819,0.59936735277,0.0186765182364,1.05967872058
+278,4.633333333,pose2_to_pose3_retreat,0.628733515143,0.010002012607,1.06004070481,0.59930523224,0.0186768352097,1.0596785107
+279,4.650000000,pose2_to_pose3_retreat,0.628663165995,0.0100018510929,1.06004089405,0.599234885314,0.0186766807968,1.05967869372
+280,4.666666667,pose2_to_pose3_retreat,0.628584174182,0.010001838279,1.06004090327,0.59915589394,0.0186766696304,1.05967870884
+281,4.683333333,pose2_to_pose3_retreat,0.628494133979,0.0100018553773,1.06004097446,0.59906585284,0.0186766837154,1.0596787814
+282,4.700000000,pose2_to_pose3_retreat,0.628392079507,0.0100018795365,1.06004084483,0.598963798532,0.0186767081999,1.05967864696
+283,4.716666667,pose2_to_pose3_retreat,0.628275342542,0.0100018628633,1.06004081669,0.598847062873,0.0186766956303,1.05967861227
+284,4.733333333,pose2_to_pose3_retreat,0.628144103113,0.010001830412,1.06004095079,0.598715823741,0.0186766640953,1.05967874553
+285,4.750000000,pose2_to_pose3_retreat,0.627996696903,0.010001857746,1.06004093386,0.598568416117,0.0186766867268,1.05967873218
+286,4.766666667,pose2_to_pose3_retreat,0.627832985332,0.0100018885899,1.06004096789,0.598404704281,0.0186767162781,1.05967875809
+287,4.783333333,pose2_to_pose3_retreat,0.627652949846,0.0100019342784,1.06004098337,0.598224668198,0.0186767596372,1.05967876827
+288,4.800000000,pose2_to_pose3_retreat,0.627453571199,0.0100019477725,1.06004080623,0.598025288923,0.0186767716379,1.05967860794
+289,4.816666667,pose2_to_pose3_retreat,0.627235229956,0.0100019147143,1.06004079212,0.597806948165,0.0186767401483,1.05967859442
+290,4.833333333,pose2_to_pose3_retreat,0.626997338258,0.0100019582824,1.0600409431,0.597569057188,0.0186767854938,1.05967873168
+291,4.850000000,pose2_to_pose3_retreat,0.626739428344,0.0100019243208,1.06004097796,0.597311146873,0.0186767500587,1.05967876634
+292,4.866666667,pose2_to_pose3_retreat,0.62646165605,0.0100018993469,1.06004095097,0.597033374098,0.0186767236008,1.0596787453
+293,4.883333333,pose2_to_pose3_retreat,0.626167744862,0.0100019717041,1.0600409559,0.596739461706,0.0186767917743,1.05967875023
+294,4.900000000,pose2_to_pose3_retreat,0.625857677361,0.0100020007613,1.06004090913,0.596429393554,0.0186768184093,1.05967870117
+295,4.916666667,pose2_to_pose3_retreat,0.625527790894,0.0100017833238,1.06004071098,0.596099511013,0.0186766143567,1.05967850773
+296,4.933333333,pose2_to_pose3_retreat,0.625175938968,0.0100018077873,1.06004083611,0.595747658868,0.0186766378224,1.0596786286
+297,4.950000000,pose2_to_pose3_retreat,0.62479806014,0.0100017637429,1.06004090846,0.595369781912,0.0186766003501,1.05967870971
+298,4.966666667,pose2_to_pose3_retreat,0.624391625723,0.0100018569894,1.06004113291,0.59496334643,0.0186766896832,1.05967892916
+299,4.983333333,pose2_to_pose3_retreat,0.623957021611,0.010001770135,1.06004106471,0.594528742381,0.0186766024321,1.05967885075
+300,5.000000000,pose2_to_pose3_retreat,0.623493235311,0.0100017738869,1.06004089236,0.594064955798,0.0186766052352,1.05967868288
+301,5.016666667,pose2_to_pose3_retreat,0.623007808902,0.0100018513295,1.06004094518,0.593579528949,0.0186766812449,1.05967873996
+302,5.033333333,pose2_to_pose3_retreat,0.622506859859,0.0100018695102,1.06004100286,0.593078579797,0.0186766990931,1.0596788008
+303,5.050000000,pose2_to_pose3_retreat,0.621988111719,0.0100018616494,1.06004085319,0.592559831461,0.0186766905356,1.0596786532
+304,5.066666667,pose2_to_pose3_retreat,0.621449664269,0.0100018696885,1.06004074755,0.592021384129,0.0186766984915,1.05967853847
+305,5.083333333,pose2_to_pose3_retreat,0.620890908911,0.0100017850703,1.06004081718,0.591462630358,0.0186766196349,1.05967861614
+306,5.100000000,pose2_to_pose3_retreat,0.620309302121,0.0100017744962,1.06004083262,0.590881022677,0.0186766058612,1.05967862733
+307,5.116666667,pose2_to_pose3_retreat,0.61969851343,0.0100019566501,1.06004084959,0.590270231988,0.0186767810925,1.05967864076
+308,5.133333333,pose2_to_pose3_retreat,0.61906584117,0.0100018632007,1.06004084348,0.5896375609,0.0186766916922,1.05967863608
+309,5.150000000,pose2_to_pose3_retreat,0.618414244654,0.0100018569475,1.06004080744,0.588985963619,0.0186766831434,1.05967860745
+310,5.166666667,pose2_to_pose3_retreat,0.617739903184,0.0100018960079,1.06004096507,0.588311621386,0.0186767195579,1.05967876385
+311,5.183333333,pose2_to_pose3_retreat,0.617040794502,0.0100018446435,1.06004096322,0.587612513852,0.0186766722597,1.05967876602
+312,5.200000000,pose2_to_pose3_retreat,0.616314193464,0.0100018608119,1.06004086116,0.58688591338,0.018676690283,1.05967866238
+313,5.216666667,pose2_to_pose3_retreat,0.615564855422,0.0100018628458,1.06004077662,0.586136575278,0.0186766919424,1.0596785721
+314,5.233333333,pose2_to_pose3_retreat,0.614801282003,0.0100017109437,1.06004070759,0.585373003039,0.0186765441204,1.05967850234
+315,5.250000000,pose2_to_pose3_retreat,0.614035044571,0.0100016750372,1.06004081186,0.584606765908,0.0186765089653,1.05967859942
+316,5.266666667,pose2_to_pose3_retreat,0.613269909388,0.0100018014399,1.06004100777,0.583841629344,0.0186766304168,1.05967878862
+317,5.283333333,pose2_to_pose3_retreat,0.612505774401,0.0100017380224,1.06004098562,0.583077494942,0.018676569434,1.05967877737
+318,5.300000000,pose2_to_pose3_retreat,0.611737308325,0.0100020600854,1.06004116763,0.582309025381,0.0186768800832,1.05967896914
+319,5.316666667,pose2_to_pose3_retreat,0.610953363619,0.0100019601621,1.06004086355,0.581525082199,0.0186767852237,1.05967866254
+320,5.333333333,pose2_to_pose3_retreat,0.610147356393,0.0100018556384,1.06004085006,0.580719075397,0.0186766818135,1.05967864124
+321,5.350000000,pose2_to_pose3_retreat,0.609309730105,0.0100018920575,1.06004102838,0.579881448439,0.0186767158783,1.05967881762
+322,5.366666667,pose2_to_pose3_retreat,0.60845815769,0.0100019457818,1.06004102036,0.579029876365,0.018676770771,1.05967880983
+323,5.383333333,pose2_to_pose3_retreat,0.60759829407,0.0100018714841,1.06004089471,0.578170014158,0.018676701407,1.05967868747
+324,5.400000000,pose2_to_pose3_retreat,0.60674645696,0.0100018696848,1.06004071341,0.57731817593,0.0186766958618,1.05967850727
+325,5.416666667,pose2_to_pose3_retreat,0.605908097623,0.0100018947806,1.06004071054,0.576479815729,0.0186767179187,1.05967850185
+326,5.433333333,pose2_to_pose3_retreat,0.605087315543,0.0100018414517,1.06004089149,0.575659034924,0.0186766688878,1.05967868203
+327,5.450000000,pose2_to_pose3_retreat,0.604272961604,0.0100018381148,1.06004094902,0.57484468081,0.0186766651155,1.05967874341
+328,5.466666667,pose2_to_pose3_retreat,0.603459099076,0.0100019105057,1.06004091508,0.574030816878,0.0186767329048,1.05967871338
+329,5.483333333,pose2_to_pose3_retreat,0.602618693406,0.010001918118,1.06004074598,0.573190411248,0.0186767401862,1.059678533
+330,5.500000000,pose2_to_pose3_retreat,0.601751918414,0.0100017966867,1.06004079479,0.572323638575,0.0186766272009,1.05967859569
+331,5.516666667,pose2_to_pose3_retreat,0.600885523885,0.010001740361,1.06004093536,0.571457246919,0.0186765804691,1.05967873253
+332,5.533333333,pose2_to_pose3_retreat,0.600030528031,0.0100017043279,1.06004092439,0.570602249259,0.0186765384235,1.05967872438
+333,5.550000000,pose2_to_pose3_retreat,0.599203825719,0.0100018539485,1.06004083824,0.569775545289,0.0186766823571,1.05967863662
+334,5.566666667,pose2_to_pose3_retreat,0.598415205577,0.010001840127,1.06004081646,0.568986926839,0.0186766742093,1.05967861325
+335,5.583333333,pose2_to_pose3_retreat,0.597663425513,0.010001791879,1.06004074034,0.56823514667,0.0186766257524,1.05967854064
+336,5.600000000,pose2_to_pose3_retreat,0.596916761267,0.0100018149774,1.06004073137,0.567488480726,0.0186766430587,1.05967853088
+337,5.616666667,pose2_to_pose3_retreat,0.596166249099,0.0100018526368,1.06004087361,0.566737968331,0.0186766796314,1.05967866553
+338,5.633333333,pose2_to_pose3_retreat,0.595402530624,0.0100017898646,1.06004095025,0.565974251344,0.0186766219873,1.05967874412
+339,5.650000000,pose2_to_pose3_retreat,0.594632254385,0.0100018434921,1.06004092955,0.565203973581,0.018676670567,1.05967872624
+340,5.666666667,pose2_to_pose3_retreat,0.59385981565,0.01000171686,1.06004084073,0.56443153728,0.018676552002,1.05967863285
+341,5.683333333,pose2_to_pose3_retreat,0.593118324581,0.010001654307,1.06004084174,0.563690046175,0.0186764893091,1.05967863342
+342,5.700000000,pose2_to_pose3_retreat,0.592415518693,0.0100017273848,1.06004070569,0.562987240097,0.0186765617998,1.05967850334
+343,5.716666667,pose2_to_pose3_retreat,0.591746319457,0.0100018582459,1.06004079346,0.562318038755,0.0186766854909,1.05967859042
+344,5.733333333,pose2_to_pose3_retreat,0.591107266019,0.0100018948311,1.06004091574,0.561678985257,0.0186767218052,1.05967871093
+345,5.750000000,pose2_to_pose3_retreat,0.59049176467,0.0100018075512,1.06004090136,0.561063485046,0.0186766382785,1.05967869391
+346,5.766666667,pose2_to_pose3_retreat,0.58988065201,0.0100017685624,1.06004082305,0.560452373333,0.0186766026889,1.05967862001
+347,5.783333333,pose2_to_pose3_retreat,0.589268198201,0.0100018273393,1.06004088785,0.559839919797,0.0186766625475,1.05967868855
+348,5.800000000,pose2_to_pose3_retreat,0.588668089934,0.0100018329829,1.06004096924,0.559239811408,0.0186766675105,1.05967876352
+349,5.816666667,pose2_to_pose3_retreat,0.588086064735,0.0100017945448,1.0600407213,0.558657785555,0.0186766270078,1.05967851912
+350,5.833333333,pose2_to_pose3_retreat,0.587532640933,0.0100017650442,1.060040804,0.558104361235,0.018676595656,1.05967859929
+351,5.850000000,pose2_to_pose3_retreat,0.587007430415,0.0100017428626,1.06004069685,0.557579150802,0.0186765740293,1.05967849764
+352,5.866666667,pose2_to_pose3_retreat,0.586511812081,0.0100017815328,1.06004081488,0.557083531908,0.0186766106637,1.05967861164
+353,5.883333333,pose2_to_pose3_retreat,0.586039074284,0.0100019543725,1.06004083918,0.556610794146,0.0186767834711,1.05967863433
+354,5.900000000,pose2_to_pose3_retreat,0.585589176224,0.0100017870391,1.06004064568,0.556160897101,0.0186766195118,1.05967843882
+355,5.916666667,pose2_to_pose3_retreat,0.585166518455,0.0100017819396,1.06004103952,0.555738237758,0.0186766089403,1.05967882954
+356,5.933333333,pose2_to_pose3_retreat,0.584770427776,0.0100018144484,1.06004105219,0.55534214636,0.0186766391376,1.05967884518
+357,5.950000000,pose2_to_pose3_retreat,0.584402103099,0.0100018688897,1.06004077156,0.554973822544,0.0186766965661,1.05967856641
+358,5.966666667,pose2_to_pose3_retreat,0.584055947433,0.0100018972001,1.0600407099,0.554627667295,0.018676726349,1.0596785063
+359,5.983333333,pose2_to_pose3_retreat,0.58373017601,0.0100018545879,1.06004092216,0.55430189556,0.0186766829328,1.05967872408
+360,6.000000000,pose2_to_pose3_retreat,0.583420643995,0.0100018120653,1.06004092585,0.553992365253,0.0186766462991,1.05967873009
+361,6.016666667,pose2_to_pose3_retreat,0.58312740856,0.0100017290639,1.06004108248,0.553699128713,0.0186765590643,1.05967887558
+362,6.033333333,pose2_to_pose3_retreat,0.582850205383,0.0100018268171,1.06004116534,0.553421924536,0.0186766537091,1.05967896463
+363,6.050000000,pose2_to_pose3_retreat,0.582590274864,0.010001879535,1.06004117643,0.553161994319,0.0186767073621,1.05967897394
+364,6.066666667,pose2_to_pose3_retreat,0.582351161628,0.0100018161419,1.06004088272,0.552922880386,0.018676641527,1.05967867833
+365,6.083333333,pose2_to_pose3_retreat,0.582131413402,0.0100018729537,1.06004081443,0.552703133057,0.0186767015323,1.05967861362
+366,6.100000000,pose2_to_pose3_retreat,0.581932262235,0.0100019096556,1.06004092142,0.552503981854,0.018676737922,1.05967871622
+367,6.116666667,pose2_to_pose3_retreat,0.581755102144,0.0100018740039,1.06004087459,0.55232682166,0.018676701816,1.05967866692
+368,6.133333333,pose2_to_pose3_retreat,0.581598541278,0.0100018964948,1.06004088352,0.552170260009,0.0186767219414,1.05967868299
+369,6.150000000,pose2_to_pose3_retreat,0.581461118013,0.0100018162597,1.06004093819,0.552032837935,0.018676645667,1.05967873576
+370,6.166666667,pose2_to_pose3_retreat,0.581339511805,0.0100017817432,1.06004091668,0.55191123171,0.0186766107712,1.05967870658
+371,6.183333333,pose2_to_pose3_retreat,0.581232451023,0.0100018615024,1.06004080405,0.551804168623,0.0186766827085,1.05967859426
+372,6.200000000,pose2_to_pose3_retreat,0.581138516891,0.0100018983745,1.0600407507,0.551710233737,0.0186767171404,1.05967854416
+373,6.216666667,pose2_to_pose3_retreat,0.581057692005,0.0100019321385,1.06004084372,0.551629409505,0.0186767530996,1.05967863656
+374,6.233333333,pose2_to_pose3_retreat,0.580988836193,0.01000189911,1.06004080679,0.551560554673,0.0186767237486,1.05967860804
+375,6.250000000,pose2_to_pose3_retreat,0.580931792339,0.0100017876943,1.06004079078,0.551503511832,0.018676615691,1.0596785901
+376,6.266666667,pose2_to_pose3_retreat,0.580886813339,0.0100018419921,1.06004060553,0.551458532523,0.0186766686399,1.05967839763
+377,6.283333333,pose2_to_pose3_retreat,0.580850262462,0.0100019084765,1.06004079417,0.551421981246,0.0186767340072,1.05967859202
+378,6.300000000,pose2_to_pose3_retreat,0.580821069456,0.0100017503041,1.06004082399,0.55139278944,0.0186765798265,1.05967861999
+379,6.316666667,pose2_to_pose3_retreat,0.580798364157,0.0100016915036,1.06004083014,0.551370085309,0.018676524845,1.05967862279
+380,6.333333333,pose2_to_pose3_retreat,0.580781324291,0.0100018138275,1.06004076548,0.551353043692,0.0186766413266,1.05967856068
+381,6.350000000,pose2_to_pose3_retreat,0.580768633061,0.0100019366385,1.0600407797,0.551340350661,0.0186767581397,1.0596785775
+382,6.366666667,pose2_to_pose3_retreat,0.580759893667,0.0100019277461,1.06004095852,0.551331612042,0.0186767517882,1.05967875388
+383,6.383333333,pose2_to_pose3_retreat,0.580754616168,0.010001944409,1.06004102419,0.551326334108,0.0186767671135,1.05967882291
+384,6.400000000,pose2_to_pose3_retreat,0.580751321966,0.0100019039005,1.0600410024,0.551323040406,0.0186767282378,1.05967879952
+385,6.416666667,pose2_to_pose3_retreat,0.580749550014,0.010001834675,1.06004093219,0.551321269443,0.01867666219,1.05967872501
+386,6.433333333,pose2_to_pose3_retreat,0.580748123953,0.0100017789625,1.06004087568,0.551319844178,0.0186766090349,1.05967866504
+387,6.450000000,pose2_to_pose3_retreat,0.580747032227,0.0100018177874,1.06004084369,0.551318752484,0.0186766481455,1.05967863726
+388,6.466666667,pose2_to_pose3_retreat,0.580746377713,0.0100018602181,1.06004082717,0.551318097854,0.0186766903544,1.05967862487
+389,6.483333333,pose2_to_pose3_retreat,0.580745867691,0.0100018932817,1.06004081429,0.551317587741,0.0186767232452,1.05967861521
+390,6.500000000,pose2_to_pose3_retreat,0.580745280543,0.0100019313452,1.06004079947,0.551317000489,0.0186767611097,1.05967860409
+391,6.516666667,pose2_to_pose3_retreat,0.580745203327,0.0100019363509,1.06004079752,0.55131692326,0.0186767660892,1.05967860263
+392,6.533333333,pose2_to_pose3_retreat,0.580744834052,0.0100019206019,1.06004080022,0.551316553422,0.0186767483816,1.0596786042
+393,6.550000000,pose2_to_pose3_retreat,0.580744707639,0.0100019135563,1.06004080165,0.551316426794,0.0186767405891,1.0596786051
+394,6.566666667,pose2_to_pose3_retreat,0.580744669663,0.0100019114397,1.06004080208,0.551316388755,0.0186767382482,1.05967860536
+395,6.583333333,pose2_to_pose3_retreat,0.580744564261,0.0100019055652,1.06004080327,0.551316283174,0.0186767317509,1.05967860611
+396,6.600000000,pose2_to_pose3_retreat,0.580744488036,0.0100019013169,1.06004080412,0.551316206821,0.0186767270522,1.05967860665
+397,6.616666667,pose2_to_pose3_retreat,0.580744197595,0.0100018851294,1.0600408074,0.551315915889,0.0186767091487,1.0596786087
+398,6.633333333,pose2_to_pose3_retreat,0.580744104336,0.0100018799317,1.06004080845,0.551315822472,0.0186767033999,1.05967860936
+399,6.650000000,pose2_to_pose3_retreat,0.580744009334,0.0100018746368,1.06004080952,0.55131572731,0.0186766975438,1.05967861003
+400,6.666666667,pose2_to_pose3_retreat,0.580743853784,0.0100018559998,1.06004078529,0.551315572174,0.0186766802421,1.05967858409
+401,6.683333333,pose2_to_pose3_retreat,0.580743713182,0.0100018326976,1.06004074655,0.551315432386,0.0186766596072,1.05967854313
+402,6.700000000,pose2_to_pose3_retreat,0.580743618676,0.0100018170348,1.06004072051,0.551315338426,0.0186766457373,1.05967851559
+403,6.716666667,pose2_to_pose3_retreat,0.58074351681,0.01000177538,1.06004070886,0.551315236886,0.0186766051676,1.05967850348
+404,6.733333333,pose2_to_pose3_retreat,0.580743466123,0.0100017483764,1.06004070721,0.551315186295,0.0186765784892,1.0596785019
+405,6.750000000,pose2_to_pose3_retreat,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186

Part2/Obstacle_avoidance/ball_0030_15/position_11/depth_04/fem_node.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa1183103ce4d2d99cd196554f5303cfbba9cbf4b55288f189b3dfeedfcf208e
+size 25735458

Part2/Obstacle_avoidance/ball_0030_15/position_11/depth_04/simulation_data.csv

@@ -0,0 +1,408 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+1,0.016666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+2,0.033333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+3,0.050000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+4,0.066666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+5,0.083333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+6,0.100000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+7,0.116666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+8,0.133333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+9,0.150000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+10,0.166666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+11,0.183333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+12,0.200000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+13,0.216666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+14,0.233333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+15,0.250000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+16,0.266666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+17,0.283333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+18,0.300000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+19,0.316666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+20,0.333333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+21,0.350000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+22,0.366666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+23,0.383333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+24,0.400000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+25,0.416666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+26,0.433333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+27,0.450000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+28,0.466666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+29,0.483333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+30,0.500000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+31,0.516666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+32,0.533333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+33,0.550000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+34,0.566666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+35,0.583333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+36,0.600000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+37,0.616666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+38,0.633333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+39,0.650000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+40,0.666666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+41,0.683333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+42,0.700000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+43,0.716666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+44,0.733333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+45,0.750000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+46,0.766666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+47,0.783333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+48,0.800000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+49,0.816666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+50,0.833333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+51,0.850000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+52,0.866666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+53,0.883333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+54,0.900000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+55,0.916666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+56,0.933333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+57,0.950000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+58,0.966666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+59,0.983333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+60,1.000000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+61,1.016666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+62,1.033333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+63,1.050000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+64,1.066666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+65,1.083333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+66,1.100000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+67,1.116666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+68,1.133333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+69,1.150000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+70,1.166666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+71,1.183333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+72,1.200000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+73,1.216666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+74,1.233333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+75,1.250000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+76,1.266666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+77,1.283333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+78,1.300000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+79,1.316666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+80,1.333333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+81,1.350000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+82,1.366666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+83,1.383333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+84,1.400000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+85,1.416666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+86,1.433333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+87,1.450000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+88,1.466666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+89,1.483333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+90,1.500000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+91,1.516666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+92,1.533333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+93,1.550000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+94,1.566666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+95,1.583333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+96,1.600000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+97,1.616666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+98,1.633333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+99,1.650000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+100,1.666666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+101,1.683333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+102,1.700000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+103,1.716666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+104,1.733333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+105,1.750000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+106,1.766666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+107,1.783333333,pose1_to_pose2_press,0.580743526044,0.0100018042208,1.0600406973,0.551315244766,0.0186766295062,1.05967849416
+108,1.800000000,pose1_to_pose2_press,0.580743561857,0.0100017957287,1.06004073158,0.55131528093,0.0186766221266,1.05967852653
+109,1.816666667,pose1_to_pose2_press,0.580743647912,0.0100017753228,1.06004081393,0.551315367829,0.0186766043939,1.05967860432
+110,1.833333333,pose1_to_pose2_press,0.580743823747,0.0100017730694,1.06004097375,0.551315544165,0.018676603845,1.05967876436
+111,1.850000000,pose1_to_pose2_press,0.58074403536,0.0100017924146,1.06004116138,0.551315755694,0.01867662314,1.05967895757
+112,1.866666667,pose1_to_pose2_press,0.580744241689,0.0100017938859,1.06004116735,0.551315962212,0.0186766252776,1.05967896415
+113,1.883333333,pose1_to_pose2_press,0.580744643364,0.0100017920319,1.06004113095,0.551316364328,0.0186766249149,1.05967892762
+114,1.900000000,pose1_to_pose2_press,0.580746494612,0.0100017856239,1.0600409728,0.551318215671,0.0186766186586,1.05967876551
+115,1.916666667,pose1_to_pose2_press,0.580751117343,0.010001839379,1.06004094457,0.551322837194,0.0186766682224,1.05967873494
+116,1.933333333,pose1_to_pose2_press,0.580762328251,0.0100018805523,1.06004094271,0.551334047153,0.0186767067327,1.05967874626
+117,1.950000000,pose1_to_pose2_press,0.580781600264,0.0100017770608,1.06004088624,0.551353321205,0.0186766098229,1.05967868169
+118,1.966666667,pose1_to_pose2_press,0.580810928859,0.0100019736788,1.06004097641,0.551382646281,0.01867679446,1.05967877082
+119,1.983333333,pose1_to_pose2_press,0.580849872162,0.0100018442122,1.06004098387,0.551421591303,0.0186766706605,1.0596787743
+120,2.000000000,pose1_to_pose2_press,0.580898272756,0.0100018399168,1.0600408249,0.551469992201,0.0186766676618,1.05967862158
+121,2.016666667,pose1_to_pose2_press,0.580953433358,0.0100017931818,1.06004082586,0.551525152175,0.0186766187612,1.05967862165
+122,2.033333333,pose1_to_pose2_press,0.581015164931,0.0100017190152,1.06004093041,0.551586885809,0.018676551445,1.05967872274
+123,2.050000000,pose1_to_pose2_press,0.581084597746,0.0100018871516,1.06004085573,0.551656316491,0.018676712601,1.05967865416
+124,2.066666667,pose1_to_pose2_press,0.581162659802,0.0100019430575,1.06004089948,0.551734377073,0.018676763383,1.05967869495
+125,2.083333333,pose1_to_pose2_press,0.581253284506,0.0100018914139,1.06004096398,0.551825003331,0.0186767168463,1.05967875539
+126,2.100000000,pose1_to_pose2_press,0.581357623024,0.0100018806964,1.06004096844,0.551929342414,0.0186767080127,1.05967875906
+127,2.116666667,pose1_to_pose2_press,0.581478383048,0.0100018229062,1.06004085956,0.552050102047,0.0186766491158,1.05967865538
+128,2.133333333,pose1_to_pose2_press,0.58161540298,0.0100017944777,1.06004080152,0.552187122762,0.0186766235982,1.05967860344
+129,2.150000000,pose1_to_pose2_press,0.581769230022,0.0100019579391,1.06004104286,0.552340948421,0.018676782025,1.05967883654
+130,2.166666667,pose1_to_pose2_press,0.581940950547,0.0100018514173,1.06004091617,0.552512669792,0.018676678486,1.05967871254
+131,2.183333333,pose1_to_pose2_press,0.582130457404,0.0100018838864,1.06004085558,0.552702177126,0.0186767122931,1.05967864517
+132,2.200000000,pose1_to_pose2_press,0.582339217849,0.0100018917137,1.06004083948,0.552910937392,0.0186767196342,1.05967863188
+133,2.216666667,pose1_to_pose2_press,0.58256839746,0.0100019381249,1.06004085335,0.553140116847,0.0186767656491,1.05967864892
+134,2.233333333,pose1_to_pose2_press,0.582820771608,0.0100019133258,1.06004089919,0.553392490123,0.0186767381547,1.05967870097
+135,2.250000000,pose1_to_pose2_press,0.583092059512,0.0100020721817,1.06004070312,0.553663776739,0.0186768926361,1.05967850471
+136,2.266666667,pose1_to_pose2_press,0.583380549092,0.0100016644228,1.06004092097,0.55395227163,0.0186765027916,1.0596787201
+137,2.283333333,pose1_to_pose2_press,0.583691740029,0.0100019128284,1.06004081445,0.554263458915,0.0186767388061,1.05967861341
+138,2.300000000,pose1_to_pose2_press,0.584022959087,0.0100019059461,1.06004084667,0.554594677442,0.0186767299009,1.05967864035
+139,2.316666667,pose1_to_pose2_press,0.584371961708,0.0100018019743,1.0600408045,0.554943682588,0.0186766348518,1.05967860662
+140,2.333333333,pose1_to_pose2_press,0.584739723236,0.010001872351,1.06004069417,0.555311443654,0.0186767037571,1.05967849857
+141,2.350000000,pose1_to_pose2_press,0.585127494403,0.0100019040828,1.06004078686,0.555699212536,0.0186767274148,1.05967858348
+142,2.366666667,pose1_to_pose2_press,0.585532627112,0.0100018428073,1.06004083508,0.556104346276,0.0186766694395,1.05967862691
+143,2.383333333,pose1_to_pose2_press,0.585957488151,0.0100018673963,1.06004097962,0.556529205953,0.0186766893119,1.05967876907
+144,2.400000000,pose1_to_pose2_press,0.586409226054,0.0100018610342,1.06004103466,0.556980944223,0.0186766841887,1.05967882399
+145,2.416666667,pose1_to_pose2_press,0.586889117707,0.0100017867975,1.06004098684,0.557460838168,0.0186766175847,1.0596787727
+146,2.433333333,pose1_to_pose2_press,0.58740096457,0.0100017602988,1.06004089708,0.557972685351,0.0186765921973,1.05967868351
+147,2.450000000,pose1_to_pose2_press,0.587931238263,0.0100018162136,1.0600407437,0.558502958502,0.0186766467114,1.05967854058
+148,2.466666667,pose1_to_pose2_press,0.588474383297,0.0100019382495,1.06004083873,0.559046100929,0.018676759718,1.05967863111
+149,2.483333333,pose1_to_pose2_press,0.589037404349,0.0100018615157,1.06004089069,0.559609124205,0.0186766903057,1.05967867765
+150,2.500000000,pose1_to_pose2_press,0.589619867943,0.0100018122184,1.06004094246,0.560191588187,0.018676642495,1.05967873357
+151,2.516666667,pose1_to_pose2_press,0.590224115472,0.0100018695728,1.06004088276,0.560795834548,0.0186766957318,1.0596786701
+152,2.533333333,pose1_to_pose2_press,0.590855148635,0.0100018478024,1.06004107062,0.561426867961,0.0186766750854,1.05967886451
+153,2.550000000,pose1_to_pose2_press,0.591515963166,0.0100020111195,1.06004093262,0.56208768118,0.0186768341154,1.05967873046
+154,2.566666667,pose1_to_pose2_press,0.592183759242,0.0100020171962,1.06004075498,0.562755476774,0.0186768381569,1.05967854312
+155,2.583333333,pose1_to_pose2_press,0.592854243472,0.0100019338338,1.06004083407,0.563425963203,0.0186767623883,1.05967862548
+156,2.600000000,pose1_to_pose2_press,0.593533898687,0.0100018614175,1.06004076009,0.564105618829,0.0186766913352,1.05967855067
+157,2.616666667,pose1_to_pose2_press,0.594225817397,0.0100018458687,1.06004089162,0.564797537072,0.0186766742711,1.05967868391
+158,2.633333333,pose1_to_pose2_press,0.594937512611,0.010001829748,1.06004089307,0.565509232299,0.0186766582482,1.05967868666
+159,2.650000000,pose1_to_pose2_press,0.595674704057,0.0100018484422,1.06004091606,0.566246423982,0.0186766776916,1.05967870828
+160,2.666666667,pose1_to_pose2_press,0.596437986393,0.0100018122618,1.06004097198,0.567009706848,0.0186766432782,1.05967876342
+161,2.683333333,pose1_to_pose2_press,0.597218843352,0.010001807223,1.06004090495,0.567790564295,0.0186766399704,1.05967869827
+162,2.700000000,pose1_to_pose2_press,0.5980139586,0.0100018870911,1.06004086878,0.568585678756,0.0186767173169,1.05967866562
+163,2.716666667,pose1_to_pose2_press,0.598815815041,0.0100018295529,1.06004087171,0.569387535463,0.0186766605611,1.0596786657
+164,2.733333333,pose1_to_pose2_press,0.599615978501,0.0100017797212,1.06004073866,0.570187700094,0.0186766145177,1.05967852824
+165,2.750000000,pose1_to_pose2_press,0.600403949213,0.0100019250756,1.06004070841,0.570975668017,0.018676750937,1.05967851071
+166,2.766666667,pose1_to_pose2_press,0.601188871028,0.0100018576656,1.06004080719,0.571760591297,0.0186766884202,1.05967860759
+167,2.783333333,pose1_to_pose2_press,0.601976473764,0.0100018590974,1.0600408287,0.572548193854,0.0186766889658,1.05967862241
+168,2.800000000,pose1_to_pose2_press,0.60277766744,0.0100018088326,1.06004073481,0.573349387332,0.0186766379222,1.05967852603
+169,2.816666667,pose1_to_pose2_press,0.603601146974,0.0100017833125,1.06004081879,0.57417286615,0.01867661006,1.05967861212
+170,2.833333333,pose1_to_pose2_press,0.604457702305,0.0100017927428,1.06004085094,0.57502942103,0.0186766177748,1.05967863991
+171,2.850000000,pose1_to_pose2_press,0.60532707189,0.0100018340689,1.06004072214,0.575898791508,0.0186766624161,1.05967851791
+172,2.866666667,pose1_to_pose2_press,0.606198260025,0.0100019411403,1.06004100665,0.576769979449,0.0186767687783,1.05967880132
+173,2.883333333,pose1_to_pose2_press,0.607041900447,0.0100018387736,1.06004099972,0.577613621251,0.0186766708161,1.05967878776
+174,2.900000000,pose1_to_pose2_press,0.607854799496,0.010001775651,1.06004086521,0.578426521342,0.0186766114678,1.05967865908
+175,2.916666667,pose1_to_pose2_press,0.608646230888,0.0100017526703,1.06004067133,0.57921795191,0.0186765858273,1.05967846848
+176,2.933333333,pose1_to_pose2_press,0.609430431552,0.0100018107969,1.06004068904,0.580002151183,0.0186766392993,1.05967848773
+177,2.950000000,pose1_to_pose2_press,0.610226114455,0.0100018797062,1.06004081644,0.580797833579,0.018676706477,1.05967861493
+178,2.966666667,pose1_to_pose2_press,0.611040054286,0.0100018256648,1.06004083613,0.581611774187,0.018676654879,1.05967863008
+179,2.983333333,pose1_to_pose2_press,0.611869214285,0.0100017271543,1.06004085159,0.582440934448,0.0186765571223,1.05967864238
+180,3.000000000,pose1_to_pose2_press,0.612694318281,0.0100017765561,1.06004083472,0.583266037129,0.0186766022057,1.05967862894
+181,3.016666667,pose1_to_pose2_press,0.613503376933,0.0100018829512,1.06004089363,0.584075096451,0.0186767110141,1.05967869135
+182,3.033333333,pose1_to_pose2_press,0.614274677459,0.0100018383505,1.06004107342,0.584846398099,0.0186766698148,1.05967886145
+183,3.050000000,pose1_to_pose2_press,0.615014786959,0.0100017129207,1.0600409837,0.585586508789,0.0186765484016,1.05967877128
+184,3.066666667,pose1_to_pose2_press,0.615725107221,0.0100018129219,1.06004095219,0.586296828857,0.0186766478339,1.05967874206
+185,3.083333333,pose1_to_pose2_press,0.616426872734,0.0100018708905,1.06004072315,0.586998589918,0.018676690828,1.05967851607
+186,3.100000000,pose1_to_pose2_press,0.617126869588,0.0100018884844,1.06004086772,0.587698588826,0.0186767159652,1.05967867455
+187,3.116666667,pose1_to_pose2_press,0.617831438893,0.0100018448689,1.06004082095,0.588403159711,0.0186766774954,1.05967862277
+188,3.133333333,pose1_to_pose2_press,0.618538187092,0.0100018593694,1.06004080825,0.58910990715,0.0186766893331,1.05967860816
+189,3.150000000,pose1_to_pose2_press,0.619237443104,0.0100019038971,1.06004088659,0.589809162879,0.0186767330647,1.05967869053
+190,3.166666667,pose1_to_pose2_press,0.619911661948,0.0100018906794,1.06004090175,0.590483382034,0.0186767209414,1.05967870697
+191,3.183333333,pose1_to_pose2_press,0.62055293769,0.0100019042205,1.06004075732,0.591124655852,0.0186767276513,1.05967855531
+192,3.200000000,pose1_to_pose2_press,0.621158162433,0.0100018930971,1.06004076017,0.591729880467,0.0186767162737,1.05967856218
+193,3.216666667,pose1_to_pose2_press,0.621732250269,0.0100019018398,1.0600408874,0.592303969002,0.0186767272747,1.05967868603
+194,3.233333333,pose1_to_pose2_press,0.622280951757,0.0100018809255,1.06004094568,0.592852670843,0.0186767075097,1.05967874122
+195,3.250000000,pose1_to_pose2_press,0.622806535688,0.0100018335032,1.06004083396,0.593378255604,0.0186766630721,1.05967863063
+196,3.266666667,pose1_to_pose2_press,0.62330817688,0.010001842758,1.06004073685,0.593879896941,0.0186766729854,1.05967853416
+197,3.283333333,pose1_to_pose2_press,0.62379014859,0.0100019085364,1.06004079283,0.594361867516,0.0186767350111,1.05967858906
+198,3.300000000,pose1_to_pose2_press,0.624254854531,0.0100018825801,1.06004074184,0.594826575295,0.0186767152652,1.05967853397
+199,3.316666667,pose1_to_pose2_press,0.624707522026,0.0100017553219,1.06004082795,0.595279243546,0.0186765909085,1.0596786243
+200,3.333333333,pose1_to_pose2_press,0.625148757377,0.0100018375237,1.0600408426,0.595720477352,0.0186766678267,1.05967863443
+201,3.350000000,pose1_to_pose2_press,0.625574921865,0.0100019300479,1.06004082965,0.596146639468,0.0186767525196,1.05967862365
+202,3.366666667,pose1_to_pose2_press,0.625977415986,0.0100017736829,1.06004059568,0.596549136648,0.0186766068386,1.05967839334
+203,3.383333333,pose1_to_pose2_press,0.62634827099,0.0100019042963,1.06004094315,0.596919989769,0.0186767307841,1.05967873054
+204,3.400000000,pose1_to_pose2_press,0.626686313549,0.0100018796226,1.06004076154,0.597258031525,0.018676703798,1.05967855584
+205,3.416666667,pose1_to_pose2_press,0.626993752969,0.0100018673484,1.06004086045,0.597565473156,0.0186766993224,1.05967865803
+206,3.433333333,pose1_to_pose2_press,0.62727799198,0.0100018027498,1.06004099034,0.597849712938,0.0186766375381,1.05967879129
+207,3.450000000,pose1_to_pose2_press,0.627545854514,0.0100017554161,1.06004095526,0.598117575093,0.0186765889164,1.05967875461
+208,3.466666667,pose1_to_pose2_press,0.627802971327,0.0100017763401,1.06004082688,0.598374692452,0.0186766116572,1.05967862227
+209,3.483333333,pose1_to_pose2_press,0.628048286798,0.0100018092601,1.06004080379,0.598620008681,0.0186766474156,1.05967860416
+210,3.500000000,pose1_to_pose2_press,0.628279475487,0.010001866081,1.06004082696,0.598851194829,0.0186766956144,1.05967862541
+211,3.516666667,pose1_to_pose2_press,0.628491699581,0.0100018233054,1.06004093701,0.599063419682,0.0186766554315,1.05967873468
+212,3.533333333,pose1_to_pose2_press,0.62868448892,0.0100018040417,1.06004100437,0.599256208638,0.0186766343936,1.05967878772
+213,3.550000000,pose1_to_pose2_press,0.628856089078,0.0100018791322,1.06004097767,0.59942780764,0.0186767058937,1.05967876687
+214,3.566666667,pose1_to_pose2_press,0.629010791295,0.0100019171982,1.06004085176,0.599582508759,0.0186767404819,1.05967864569
+215,3.583333333,pose1_to_pose2_press,0.629150889096,0.0100018248476,1.06004071958,0.599722607626,0.0186766520075,1.05967851842
+216,3.600000000,pose1_to_pose2_press,0.629278421425,0.010001772846,1.0600407145,0.599850140533,0.0186766017628,1.05967850712
+217,3.616666667,pose1_to_pose2_press,0.629393846835,0.0100018435536,1.0600407904,0.59996556514,0.0186766698019,1.05967858352
+218,3.633333333,pose1_to_pose2_press,0.629495865529,0.010001897453,1.06004076699,0.600067583781,0.0186767234982,1.05967856316
+219,3.650000000,pose1_to_pose2_press,0.629584740094,0.0100018516306,1.06004091631,0.600156459123,0.0186766800726,1.05967870569
+220,3.666666667,pose1_to_pose2_press,0.629659810337,0.0100018487688,1.06004105333,0.600231529549,0.0186766778104,1.05967884061
+221,3.683333333,pose1_to_pose2_press,0.629723525449,0.0100018638854,1.06004086752,0.60029524444,0.0186766924098,1.05967866242
+222,3.700000000,pose1_to_pose2_press,0.629776491552,0.010001800596,1.06004075034,0.600348210663,0.0186766297432,1.0596785471
+223,3.716666667,pose1_to_pose2_press,0.629821581449,0.0100018648433,1.06004094206,0.600393301207,0.018676696127,1.05967873875
+224,3.733333333,pose1_to_pose2_press,0.629858908355,0.010001671009,1.06004095223,0.600430629861,0.0186765080297,1.05967874552
+225,3.750000000,pose1_to_pose2_press,0.629888799717,0.0100019037816,1.06004091317,0.600460517195,0.01867672777,1.05967871476
+226,3.766666667,pose1_to_pose2_press,0.629912520764,0.0100019840323,1.06004075211,0.600484237461,0.0186768047806,1.05967854429
+227,3.783333333,pose1_to_pose2_press,0.629930009679,0.010001920567,1.06004088898,0.600501727253,0.018676744517,1.05967868247
+228,3.800000000,pose1_to_pose2_press,0.629943185127,0.010001969678,1.06004083741,0.600514902629,0.0186767939789,1.05967864191
+229,3.816666667,pose1_to_pose2_press,0.629952579134,0.0100019911563,1.06004085215,0.600524296881,0.0186768164434,1.05967866037
+230,3.833333333,pose1_to_pose2_press,0.629959408932,0.0100019195814,1.06004103808,0.600531127785,0.018676748234,1.05967883891
+231,3.850000000,pose1_to_pose2_press,0.629963919184,0.0100018987626,1.06004095692,0.600535638113,0.0186767276724,1.05967875745
+232,3.866666667,pose1_to_pose2_press,0.6299668985,0.0100019187256,1.06004093803,0.600538616998,0.0186767460462,1.05967873595
+233,3.883333333,pose1_to_pose2_press,0.629968835563,0.0100019533078,1.06004094801,0.600540553474,0.018676778468,1.05967874267
+234,3.900000000,pose1_to_pose2_press,0.629969962153,0.0100019129135,1.06004095415,0.6005416807,0.0186767401942,1.05967874762
+235,3.916666667,pose1_to_pose2_press,0.629970355075,0.0100018853663,1.06004095636,0.600542074062,0.0186767141377,1.05967874958
+236,3.933333333,pose1_to_pose2_press,0.629970567429,0.0100018704784,1.06004095756,0.600542286654,0.0186767000555,1.05967875064
+237,3.950000000,pose1_to_pose2_press,0.629970668455,0.0100018633957,1.06004095813,0.600542387793,0.018676693356,1.05967875115
+238,3.966666667,pose1_to_pose2_press,0.629971018563,0.0100018388501,1.0600409601,0.600542738292,0.0186766701387,1.05967875289
+239,3.983333333,pose1_to_pose2_press,0.629971466975,0.0100018074126,1.06004096263,0.600543187206,0.0186766404024,1.05967875513
+240,4.000000000,pose1_to_pose2_press,0.629971862489,0.0100018735118,1.06004093851,0.60054358192,0.0186767040384,1.05967873648
+241,4.016666667,pose1_to_pose2_press,0.629972219365,0.0100019352596,1.06004091616,0.600543938046,0.0186767634747,1.05967871919
+242,4.033333333,pose1_to_pose2_press,0.629972385886,0.0100019544612,1.06004090329,0.600544104387,0.0186767821461,1.05967870799
+243,4.050000000,pose1_to_pose2_press,0.629972440015,0.0100019265016,1.06004089042,0.600544159065,0.0186767559659,1.0596786932
+244,4.066666667,pose1_to_pose2_press,0.62997249346,0.0100018988953,1.0600408777,0.600544213052,0.0186767301167,1.05967867859
+245,4.083333333,pose1_to_pose2_press,0.629972595174,0.0100018463564,1.06004085351,0.600544315797,0.0186766809215,1.05967865079
+246,4.100000000,pose1_to_pose2_press,0.629972667171,0.0100017850835,1.06004082883,0.600544388232,0.0186766209594,1.05967862352
+247,4.116666667,pose2_hold,0.629972667171,0.0100017850835,1.06004082883,0.600544388232,0.0186766209584,1.05967862352
+248,4.133333333,pose2_hold,0.629972667171,0.0100017850835,1.06004082883,0.600544388232,0.0186766209585,1.05967862352
+249,4.150000000,pose2_hold,0.629972667171,0.0100017850835,1.06004082883,0.600544388233,0.0186766209581,1.05967862352
+250,4.166666667,pose2_hold,0.629972667171,0.0100017850835,1.06004082883,0.600544388233,0.0186766209582,1.05967862352
+251,4.183333333,pose2_hold,0.629972667171,0.0100017850835,1.06004082883,0.600544388233,0.0186766209581,1.05967862352
+252,4.200000000,pose2_hold,0.629972667171,0.0100017850835,1.06004082883,0.600544388233,0.0186766209577,1.05967862352
+253,4.216666667,pose2_hold,0.629972667171,0.0100017850835,1.06004082883,0.600544388233,0.0186766209578,1.05967862352
+254,4.233333333,pose2_hold,0.629972667171,0.0100017850835,1.06004082883,0.600544388233,0.0186766209579,1.05967862352
+255,4.250000000,pose2_hold,0.629972667171,0.0100017850835,1.06004082883,0.600544388233,0.0186766209578,1.05967862352
+256,4.266666667,pose2_hold,0.629972667171,0.0100017850835,1.06004082883,0.600544388233,0.0186766209575,1.05967862352
+257,4.283333333,pose2_hold,0.629972667171,0.0100017850835,1.06004082883,0.600544388234,0.0186766209577,1.05967862352
+258,4.300000000,pose2_hold,0.629972667171,0.0100017850835,1.06004082883,0.600544388233,0.018676620958,1.05967862352
+259,4.316666667,pose2_hold,0.629972667171,0.0100017850835,1.06004082883,0.600544388233,0.0186766209576,1.05967862352
+260,4.333333333,pose2_hold,0.629972667171,0.0100017850835,1.06004082883,0.600544388234,0.0186766209579,1.05967862352
+261,4.350000000,pose2_hold,0.629972667171,0.0100017850835,1.06004082883,0.600544388234,0.0186766209578,1.05967862352
+262,4.366666667,pose2_hold,0.629972667171,0.0100017850835,1.06004082883,0.600544388234,0.0186766209563,1.05967862353
+263,4.383333333,pose2_to_pose3_retreat,0.629972667171,0.0100017850835,1.06004082883,0.600544388234,0.0186766209564,1.05967862352
+264,4.400000000,pose2_to_pose3_retreat,0.629972634801,0.0100018058924,1.06004081814,0.600544355691,0.018676641284,1.0596786155
+265,4.416666667,pose2_to_pose3_retreat,0.629972606354,0.0100018241106,1.06004080965,0.600544327085,0.018676659057,1.05967860929
+266,4.433333333,pose2_to_pose3_retreat,0.629972559705,0.0100018514848,1.06004082895,0.60054427997,0.0186766848941,1.05967862969
+267,4.450000000,pose2_to_pose3_retreat,0.62997251577,0.0100018772656,1.06004084712,0.600544235596,0.0186767092272,1.0596786489
+268,4.466666667,pose2_to_pose3_retreat,0.629972446659,0.0100019178201,1.06004087571,0.600544165795,0.0186767475044,1.05967867912
+269,4.483333333,pose2_to_pose3_retreat,0.629972252652,0.0100019605738,1.06004091879,0.600543970983,0.0186767874836,1.05967872131
+270,4.500000000,pose2_to_pose3_retreat,0.629971591938,0.0100019545572,1.06004098629,0.600543309949,0.0186767797348,1.05967877398
+271,4.516666667,pose2_to_pose3_retreat,0.629969420103,0.0100019541553,1.06004096585,0.600541137906,0.0186767787445,1.05967875666
+272,4.533333333,pose2_to_pose3_retreat,0.629963543932,0.0100018954898,1.06004088291,0.600535263265,0.0186767258904,1.05967868986
+273,4.550000000,pose2_to_pose3_retreat,0.629952379647,0.0100018896296,1.06004075986,0.600524098188,0.0186767169618,1.0596785589
+274,4.566666667,pose2_to_pose3_retreat,0.629931217313,0.0100017782633,1.06004059284,0.600502935334,0.0186766036764,1.05967838789
+275,4.583333333,pose2_to_pose3_retreat,0.629899765199,0.010001835926,1.06004093003,0.600471485206,0.0186766682166,1.05967872204
+276,4.600000000,pose2_to_pose3_retreat,0.629857562965,0.0100018005796,1.06004071818,0.600429281496,0.0186766277235,1.05967851114
+277,4.616666667,pose2_to_pose3_retreat,0.629805477014,0.0100017606682,1.0600407518,0.600377196644,0.0186765917348,1.05967854634
+278,4.633333333,pose2_to_pose3_retreat,0.629742661227,0.0100017118941,1.0600408481,0.600314381696,0.0186765454977,1.05967864008
+279,4.650000000,pose2_to_pose3_retreat,0.629672169121,0.0100018205703,1.06004085494,0.600243889153,0.0186766523489,1.05967864244
+280,4.666666667,pose2_to_pose3_retreat,0.629593990347,0.0100018503359,1.06004072682,0.600165708923,0.0186766777182,1.05967852571
+281,4.683333333,pose2_to_pose3_retreat,0.629503081775,0.010001872732,1.06004095437,0.600074801756,0.0186767046821,1.059678748
+282,4.700000000,pose2_to_pose3_retreat,0.629399591742,0.0100018836276,1.06004095904,0.599971311471,0.0186767145883,1.05967875031
+283,4.716666667,pose2_to_pose3_retreat,0.629281541036,0.0100018477421,1.06004090097,0.599853260177,0.0186766767262,1.05967869379
+284,4.733333333,pose2_to_pose3_retreat,0.629147583832,0.0100018436716,1.06004099383,0.599719302943,0.0186766726224,1.05967878955
+285,4.750000000,pose2_to_pose3_retreat,0.6289967214,0.0100019329828,1.06004099851,0.59956843936,0.018676758217,1.05967880021
+286,4.766666667,pose2_to_pose3_retreat,0.628829177309,0.0100019834149,1.06004086975,0.599400894825,0.0186768069763,1.05967866906
+287,4.783333333,pose2_to_pose3_retreat,0.628645086381,0.0100018944888,1.06004075625,0.599216804953,0.0186767212759,1.05967854869
+288,4.800000000,pose2_to_pose3_retreat,0.628442175903,0.0100019669367,1.06004094545,0.599013894671,0.018676794408,1.05967873964
+289,4.816666667,pose2_to_pose3_retreat,0.628219855093,0.0100019113489,1.06004079397,0.598791574144,0.0186767399979,1.05967859624
+290,4.833333333,pose2_to_pose3_retreat,0.627975864277,0.010001927649,1.06004089487,0.598547582825,0.018676754615,1.05967869927
+291,4.850000000,pose2_to_pose3_retreat,0.627713545473,0.0100018342663,1.06004084181,0.598285265305,0.0186766652193,1.05967864042
+292,4.866666667,pose2_to_pose3_retreat,0.627433826257,0.010001793418,1.06004072957,0.598005546484,0.0186766256462,1.05967852953
+293,4.883333333,pose2_to_pose3_retreat,0.627133595651,0.0100017939412,1.0600406312,0.59770531598,0.0186766263265,1.05967842887
+294,4.900000000,pose2_to_pose3_retreat,0.626815185112,0.0100018133171,1.06004072741,0.597386904771,0.018676642987,1.05967851709
+295,4.916666667,pose2_to_pose3_retreat,0.626479549388,0.0100018551442,1.06004090724,0.597051268627,0.018676683175,1.05967869465
+296,4.933333333,pose2_to_pose3_retreat,0.626124198509,0.0100019241146,1.06004095335,0.596695917907,0.01867675288,1.05967874817
+297,4.950000000,pose2_to_pose3_retreat,0.625746162758,0.0100019736307,1.06004093478,0.596317880282,0.0186767958654,1.05967872903
+298,4.966666667,pose2_to_pose3_retreat,0.625345093341,0.0100018090911,1.06004086041,0.595916813063,0.0186766383309,1.05967864665
+299,4.983333333,pose2_to_pose3_retreat,0.624919007036,0.0100018957588,1.06004092562,0.595490726703,0.018676725051,1.05967872209
+300,5.000000000,pose2_to_pose3_retreat,0.624460982183,0.0100019766396,1.06004098517,0.595032700103,0.0186767993302,1.05967877098
+301,5.016666667,pose2_to_pose3_retreat,0.623974082623,0.0100019493252,1.06004090293,0.594545801234,0.0186767742675,1.05967868993
+302,5.033333333,pose2_to_pose3_retreat,0.623458982049,0.0100018856796,1.06004067988,0.594030702021,0.0186767154581,1.05967847437
+303,5.050000000,pose2_to_pose3_retreat,0.622925808291,0.0100019379568,1.06004068652,0.593497527205,0.0186767644007,1.05967848926
+304,5.066666667,pose2_to_pose3_retreat,0.622377793013,0.0100019043186,1.06004087195,0.592949512107,0.018676731088,1.05967867109
+305,5.083333333,pose2_to_pose3_retreat,0.621811899535,0.0100017763083,1.06004103898,0.592383620516,0.0186766091253,1.05967883284
+306,5.100000000,pose2_to_pose3_retreat,0.621227843798,0.0100018510382,1.06004108894,0.591799563636,0.0186766803485,1.05967889286
+307,5.116666667,pose2_to_pose3_retreat,0.620623335421,0.0100020634873,1.06004085723,0.591195052288,0.0186768828001,1.05967866301
+308,5.133333333,pose2_to_pose3_retreat,0.619992954673,0.0100018901654,1.0600407331,0.590564674127,0.0186767176516,1.05967852443
+309,5.150000000,pose2_to_pose3_retreat,0.619331202438,0.0100019944073,1.06004082656,0.589902918868,0.0186768117653,1.0596786208
+310,5.166666667,pose2_to_pose3_retreat,0.618651660248,0.0100019055461,1.0600406995,0.589223378898,0.0186767306398,1.05967849882
+311,5.183333333,pose2_to_pose3_retreat,0.617957237677,0.0100017874405,1.06004090748,0.588528958123,0.0186766182999,1.05967869895
+312,5.200000000,pose2_to_pose3_retreat,0.617228003793,0.0100019421007,1.06004086442,0.587799722564,0.0186767673636,1.05967865797
+313,5.216666667,pose2_to_pose3_retreat,0.616472262049,0.0100019597352,1.06004106537,0.587043980904,0.0186767854253,1.05967886233
+314,5.233333333,pose2_to_pose3_retreat,0.615703372825,0.0100019062746,1.06004103004,0.586275092153,0.0186767336392,1.05967882857
+315,5.250000000,pose2_to_pose3_retreat,0.614920999392,0.0100018357487,1.06004093126,0.585492719291,0.0186766652221,1.05967873123
+316,5.266666667,pose2_to_pose3_retreat,0.614125200491,0.0100018201618,1.06004087982,0.58469692053,0.0186766500909,1.05967867684
+317,5.283333333,pose2_to_pose3_retreat,0.613338116435,0.0100018080168,1.06004082478,0.583909837056,0.0186766397662,1.05967861997
+318,5.300000000,pose2_to_pose3_retreat,0.6125553824,0.0100017702877,1.06004082412,0.583127103272,0.0186766028298,1.05967862113
+319,5.316666667,pose2_to_pose3_retreat,0.611765479353,0.0100018309217,1.06004078851,0.582337198183,0.018676656441,1.05967858317
+320,5.333333333,pose2_to_pose3_retreat,0.610960515458,0.0100018609687,1.06004060233,0.581532236676,0.0186766947343,1.05967840037
+321,5.350000000,pose2_to_pose3_retreat,0.610129855621,0.0100018681325,1.06004094022,0.580701576605,0.0186767011113,1.05967873846
+322,5.366666667,pose2_to_pose3_retreat,0.609275851334,0.0100019141401,1.06004061557,0.579847570014,0.0186767392239,1.0596784119
+323,5.383333333,pose2_to_pose3_retreat,0.608398830423,0.0100021352881,1.06004066793,0.578970545867,0.0186769496512,1.05967847037
+324,5.400000000,pose2_to_pose3_retreat,0.607529618108,0.0100019360371,1.06004102471,0.578101336862,0.018676761153,1.05967881564
+325,5.416666667,pose2_to_pose3_retreat,0.606673732577,0.0100017488629,1.06004088836,0.577245453332,0.0186765810792,1.05967868372
+326,5.433333333,pose2_to_pose3_retreat,0.605832049706,0.0100018649012,1.06004083136,0.576403768853,0.018676691705,1.05967862742
+327,5.450000000,pose2_to_pose3_retreat,0.605002883487,0.0100019111419,1.06004084321,0.575574602134,0.0186767361092,1.05967863617
+328,5.466666667,pose2_to_pose3_retreat,0.604184176324,0.0100018354659,1.06004087358,0.574755896587,0.018676666014,1.05967866885
+329,5.483333333,pose2_to_pose3_retreat,0.603337941841,0.0100018194288,1.06004090265,0.573909662484,0.0186766512879,1.05967869839
+330,5.500000000,pose2_to_pose3_retreat,0.602464496464,0.0100018896877,1.06004086408,0.573036215455,0.0186767156076,1.0596786518
+331,5.516666667,pose2_to_pose3_retreat,0.601583246499,0.0100019017973,1.06004079838,0.572154966884,0.0186767328559,1.05967859587
+332,5.533333333,pose2_to_pose3_retreat,0.60070615977,0.0100019625631,1.06004075053,0.571277877909,0.0186767858847,1.05967854517
+333,5.550000000,pose2_to_pose3_retreat,0.599852293585,0.0100016846933,1.06004093486,0.570424016051,0.0186765225932,1.0596787271
+334,5.566666667,pose2_to_pose3_retreat,0.599034634125,0.0100016468763,1.06004070874,0.569606356092,0.0186764832036,1.0596785039
+335,5.583333333,pose2_to_pose3_retreat,0.598256487765,0.0100017872756,1.06004083218,0.568828208122,0.0186766180605,1.05967862534
+336,5.600000000,pose2_to_pose3_retreat,0.597491508955,0.0100018057972,1.06004080034,0.568063228551,0.0186766343488,1.05967860184
+337,5.616666667,pose2_to_pose3_retreat,0.596730628393,0.0100018500792,1.06004098075,0.567302349484,0.0186766835351,1.05967877827
+338,5.633333333,pose2_to_pose3_retreat,0.595966871655,0.0100018665883,1.06004100974,0.566538592326,0.0186766984762,1.05967880386
+339,5.650000000,pose2_to_pose3_retreat,0.595195099047,0.0100018855924,1.0600409506,0.565766818999,0.0186767150684,1.05967874539
+340,5.666666667,pose2_to_pose3_retreat,0.594410748998,0.0100019011282,1.06004073412,0.56498246859,0.0186767295378,1.05967853266
+341,5.683333333,pose2_to_pose3_retreat,0.593648789998,0.0100017793972,1.06004058858,0.564220509915,0.0186766089107,1.05967838718
+342,5.700000000,pose2_to_pose3_retreat,0.592915698644,0.0100016926892,1.06004083523,0.56348742022,0.0186765276114,1.05967862853
+343,5.716666667,pose2_to_pose3_retreat,0.592214390564,0.0100018993146,1.06004084505,0.56278611058,0.0186767291094,1.05967864236
+344,5.733333333,pose2_to_pose3_retreat,0.591547201284,0.0100019228911,1.06004092696,0.562118920909,0.0186767514264,1.05967872588
+345,5.750000000,pose2_to_pose3_retreat,0.590915448927,0.0100019308491,1.06004093487,0.56148716968,0.0186767631323,1.05967873195
+346,5.766666667,pose2_to_pose3_retreat,0.590297121643,0.0100018122405,1.06004086301,0.56086883935,0.0186766338428,1.05967865181
+347,5.783333333,pose2_to_pose3_retreat,0.589683204162,0.0100017596017,1.06004098548,0.560254924074,0.0186765891945,1.05967878656
+348,5.800000000,pose2_to_pose3_retreat,0.589074853795,0.010001843206,1.06004100488,0.559646573428,0.0186766713974,1.05967879501
+349,5.816666667,pose2_to_pose3_retreat,0.588476346669,0.0100019127993,1.06004080986,0.559048066366,0.0186767412636,1.0596786013
+350,5.833333333,pose2_to_pose3_retreat,0.587901745893,0.0100019112815,1.06004087281,0.55847346482,0.0186767370784,1.05967866305
+351,5.850000000,pose2_to_pose3_retreat,0.587355432744,0.0100018903342,1.06004093757,0.557927150881,0.0186767131943,1.05967872158
+352,5.866666667,pose2_to_pose3_retreat,0.586841666039,0.0100019186207,1.06004084854,0.557413384624,0.018676743275,1.05967863915
+353,5.883333333,pose2_to_pose3_retreat,0.586351556341,0.0100019281138,1.06004080339,0.556923276277,0.018676757837,1.05967860566
+354,5.900000000,pose2_to_pose3_retreat,0.58588339605,0.0100018452974,1.06004080444,0.556455116775,0.0186766776542,1.05967860618
+355,5.916666667,pose2_to_pose3_retreat,0.585439255444,0.0100018507132,1.06004083808,0.556010973931,0.0186766752157,1.05967863493
+356,5.933333333,pose2_to_pose3_retreat,0.585020352912,0.0100019982814,1.06004098923,0.555592069384,0.018676815595,1.05967877696
+357,5.950000000,pose2_to_pose3_retreat,0.584631627413,0.0100019081925,1.06004112052,0.555203345894,0.0186767320492,1.05967890206
+358,5.966666667,pose2_to_pose3_retreat,0.584270224738,0.0100019750176,1.06004085186,0.554841943151,0.0186767993352,1.05967864973
+359,5.983333333,pose2_to_pose3_retreat,0.583935248555,0.0100018174836,1.06004099603,0.554506969107,0.0186766490193,1.05967879291
+360,6.000000000,pose2_to_pose3_retreat,0.583616281901,0.0100018754981,1.06004106121,0.554188001467,0.0186767036259,1.05967885698
+361,6.016666667,pose2_to_pose3_retreat,0.583311765297,0.0100019202947,1.0600409462,0.553883484442,0.0186767469064,1.05967873987
+362,6.033333333,pose2_to_pose3_retreat,0.583021368915,0.0100018815866,1.06004078783,0.553593089393,0.0186767126501,1.0596785797
+363,6.050000000,pose2_to_pose3_retreat,0.58274689548,0.0100018979398,1.06004079994,0.553318615583,0.0186767279103,1.05967859601
+364,6.066666667,pose2_to_pose3_retreat,0.582493023032,0.0100019527586,1.0600409301,0.553064741364,0.0186767768824,1.05967872992
+365,6.083333333,pose2_to_pose3_retreat,0.582259830651,0.0100019507744,1.06004094864,0.552831549018,0.0186767748135,1.05967874375
+366,6.100000000,pose2_to_pose3_retreat,0.58204846229,0.0100019162,1.06004098065,0.55262018053,0.0186767397617,1.05967877468
+367,6.116666667,pose2_to_pose3_retreat,0.581859515283,0.0100018352738,1.06004105302,0.552431235929,0.0186766669235,1.05967884544
+368,6.133333333,pose2_to_pose3_retreat,0.581691601066,0.0100018348949,1.06004094875,0.552263322128,0.0186766679262,1.05967874045
+369,6.150000000,pose2_to_pose3_retreat,0.581542349783,0.0100018431316,1.06004083672,0.552114070201,0.0186766740907,1.05967863115
+370,6.166666667,pose2_to_pose3_retreat,0.581410372781,0.0100018492937,1.0600408325,0.551982092219,0.0186766768946,1.05967862615
+371,6.183333333,pose2_to_pose3_retreat,0.581295361687,0.0100018020925,1.0600408266,0.551867082357,0.0186766339323,1.05967862173
+372,6.200000000,pose2_to_pose3_retreat,0.5811935977,0.0100018154734,1.06004082211,0.551765319008,0.0186766494562,1.05967861764
+373,6.216666667,pose2_to_pose3_retreat,0.581104076179,0.0100018364789,1.06004090931,0.551675795794,0.0186766648526,1.05967870792
+374,6.233333333,pose2_to_pose3_retreat,0.581027871365,0.0100018298196,1.06004091776,0.551599591772,0.0186766610529,1.05967872035
+375,6.250000000,pose2_to_pose3_retreat,0.580963789974,0.0100017803552,1.0600408615,0.551535510661,0.0186766122639,1.05967865745
+376,6.266666667,pose2_to_pose3_retreat,0.580911063668,0.0100017333326,1.0600408323,0.551482785757,0.018676569903,1.05967862594
+377,6.283333333,pose2_to_pose3_retreat,0.580867994444,0.0100017506637,1.06004072974,0.551439714562,0.0186765808534,1.05967853067
+378,6.300000000,pose2_to_pose3_retreat,0.580834491906,0.0100018582818,1.06004082727,0.55140621003,0.0186766814019,1.05967862091
+379,6.316666667,pose2_to_pose3_retreat,0.580808265885,0.0100018860437,1.06004109355,0.551379985955,0.0186767153003,1.05967887611
+380,6.333333333,pose2_to_pose3_retreat,0.580788797321,0.010001823578,1.06004111403,0.551360518736,0.018676657585,1.0596789012
+381,6.350000000,pose2_to_pose3_retreat,0.580774522127,0.0100019725557,1.06004072836,0.551346237847,0.0186767873432,1.05967851802
+382,6.366666667,pose2_to_pose3_retreat,0.580764492975,0.0100019314444,1.06004089162,0.551336211243,0.018676755179,1.05967868865
+383,6.383333333,pose2_to_pose3_retreat,0.580757854221,0.0100018740737,1.06004094191,0.551329573916,0.0186767026505,1.05967873883
+384,6.400000000,pose2_to_pose3_retreat,0.58075314893,0.0100018068612,1.06004093433,0.551324869558,0.0186766385092,1.05967872875
+385,6.416666667,pose2_to_pose3_retreat,0.580750207801,0.0100016785549,1.06004081329,0.551321929239,0.0186765128101,1.05967860442
+386,6.433333333,pose2_to_pose3_retreat,0.580748201871,0.0100016214218,1.06004074423,0.551319923622,0.0186764566898,1.05967853415
+387,6.450000000,pose2_to_pose3_retreat,0.580746983419,0.0100017458905,1.06004077297,0.551318704111,0.0186765777622,1.05967856754
+388,6.466666667,pose2_to_pose3_retreat,0.580746517625,0.0100017934729,1.06004078396,0.551318237912,0.0186766240461,1.0596785803
+389,6.483333333,pose2_to_pose3_retreat,0.580746241234,0.0100018217071,1.06004079048,0.551317961281,0.0186766515099,1.05967858788
+390,6.500000000,pose2_to_pose3_retreat,0.580745781591,0.0100018686611,1.06004080132,0.551317501239,0.0186766971826,1.05967860047
+391,6.516666667,pose2_to_pose3_retreat,0.580745489335,0.010001898516,1.06004080822,0.551317208728,0.0186767262229,1.05967860848
+392,6.533333333,pose2_to_pose3_retreat,0.580745352244,0.0100019024102,1.06004082375,0.5513170716,0.0186767300022,1.05967862433
+393,6.550000000,pose2_to_pose3_retreat,0.580745305355,0.0100018978112,1.06004083627,0.551317024746,0.0186767255206,1.05967863684
+394,6.566666667,pose2_to_pose3_retreat,0.580745175215,0.0100018850465,1.06004087104,0.551316894702,0.018676713082,1.05967867156
+395,6.583333333,pose2_to_pose3_retreat,0.58074483989,0.0100018521566,1.06004096061,0.551316559626,0.018676681032,1.05967876102
+396,6.600000000,pose2_to_pose3_retreat,0.58074445005,0.0100018139195,1.06004106475,0.551316170076,0.0186766437714,1.05967886502
+397,6.616666667,pose2_to_pose3_retreat,0.58074407708,0.0100017773372,1.06004116438,0.551315797383,0.0186766081234,1.05967896452
+398,6.633333333,pose2_to_pose3_retreat,0.580744003278,0.0100017735157,1.06004112067,0.551315723616,0.0186766043401,1.05967891878
+399,6.650000000,pose2_to_pose3_retreat,0.580743946437,0.0100017713487,1.0600410726,0.5513156668,0.0186766021693,1.05967886868
+400,6.666666667,pose2_to_pose3_retreat,0.580743811974,0.0100017662226,1.06004095888,0.551315532393,0.0186765970339,1.05967875017
+401,6.683333333,pose2_to_pose3_retreat,0.580743721803,0.0100017627849,1.06004088262,0.55131544226,0.0186765935902,1.0596786707
+402,6.700000000,pose2_to_pose3_retreat,0.580743592553,0.0100017553555,1.06004079285,0.551315312883,0.0186765858424,1.05967858365
+403,6.716666667,pose2_to_pose3_retreat,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+404,6.733333333,pose2_to_pose3_retreat,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+405,6.750000000,pose2_to_pose3_retreat,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+406,6.766666667,pose2_to_pose3_retreat,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186

Part2/Obstacle_avoidance/ball_0030_15/position_11/depth_05/fem_node.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5826e6e43defb80d6ed0c2f9121f745b3b75d446027dbfb3b2b6f96cf8ff8501
+size 25935678

Part2/Obstacle_avoidance/ball_0030_15/position_11/depth_05/simulation_data.csv

@@ -0,0 +1,411 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+1,0.016666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+2,0.033333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+3,0.050000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+4,0.066666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+5,0.083333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+6,0.100000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+7,0.116666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+8,0.133333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+9,0.150000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+10,0.166666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+11,0.183333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+12,0.200000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+13,0.216666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+14,0.233333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+15,0.250000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+16,0.266666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+17,0.283333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+18,0.300000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+19,0.316666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+20,0.333333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+21,0.350000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+22,0.366666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+23,0.383333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+24,0.400000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+25,0.416666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+26,0.433333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+27,0.450000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+28,0.466666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+29,0.483333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+30,0.500000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+31,0.516666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+32,0.533333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+33,0.550000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+34,0.566666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+35,0.583333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+36,0.600000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+37,0.616666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+38,0.633333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+39,0.650000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+40,0.666666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+41,0.683333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+42,0.700000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+43,0.716666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+44,0.733333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+45,0.750000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+46,0.766666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+47,0.783333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+48,0.800000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+49,0.816666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+50,0.833333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+51,0.850000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+52,0.866666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+53,0.883333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+54,0.900000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+55,0.916666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+56,0.933333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+57,0.950000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+58,0.966666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+59,0.983333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+60,1.000000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+61,1.016666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+62,1.033333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+63,1.050000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+64,1.066666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+65,1.083333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+66,1.100000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+67,1.116666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+68,1.133333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+69,1.150000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+70,1.166666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+71,1.183333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+72,1.200000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+73,1.216666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+74,1.233333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+75,1.250000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+76,1.266666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+77,1.283333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+78,1.300000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+79,1.316666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+80,1.333333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+81,1.350000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+82,1.366666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+83,1.383333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+84,1.400000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+85,1.416666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+86,1.433333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+87,1.450000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+88,1.466666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+89,1.483333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+90,1.500000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+91,1.516666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+92,1.533333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+93,1.550000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+94,1.566666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+95,1.583333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+96,1.600000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+97,1.616666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+98,1.633333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+99,1.650000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+100,1.666666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+101,1.683333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+102,1.700000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+103,1.716666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+104,1.733333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+105,1.750000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+106,1.766666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+107,1.783333333,pose1_to_pose2_press,0.580743526044,0.0100018042208,1.0600406973,0.551315244766,0.0186766295062,1.05967849416
+108,1.800000000,pose1_to_pose2_press,0.580743724157,0.0100017575898,1.06004087029,0.55131544468,0.0186765886465,1.05967865903
+109,1.816666667,pose1_to_pose2_press,0.580743817663,0.0100017370013,1.06004088393,0.551315538453,0.0186765692127,1.05967867864
+110,1.833333333,pose1_to_pose2_press,0.580743823214,0.010001735779,1.06004088474,0.55131554402,0.0186765680591,1.05967867981
+111,1.850000000,pose1_to_pose2_press,0.580743824775,0.0100017354353,1.06004088497,0.551315545586,0.0186765677346,1.05967868013
+112,1.866666667,pose1_to_pose2_press,0.580743854765,0.0100017288321,1.06004088934,0.551315575661,0.0186765615018,1.05967868642
+113,1.883333333,pose1_to_pose2_press,0.580743916947,0.0100017151405,1.06004089841,0.551315638021,0.0186765485781,1.05967869946
+114,1.900000000,pose1_to_pose2_press,0.580744614017,0.0100018205504,1.06004097297,0.551316335282,0.0186766548563,1.05967877927
+115,1.916666667,pose1_to_pose2_press,0.580747124199,0.0100018986733,1.06004077879,0.551318844284,0.018676728675,1.05967857781
+116,1.933333333,pose1_to_pose2_press,0.580754237429,0.0100019171942,1.06004084668,0.551325955645,0.0186767409113,1.05967864703
+117,1.950000000,pose1_to_pose2_press,0.580767763637,0.0100018264907,1.06004083193,0.551339484073,0.018676657717,1.05967863171
+118,1.966666667,pose1_to_pose2_press,0.580791014755,0.010001800985,1.06004085039,0.551362735095,0.0186766313914,1.05967863824
+119,1.983333333,pose1_to_pose2_press,0.580823937793,0.0100019411534,1.06004103016,0.551395655445,0.018676762416,1.05967881734
+120,2.000000000,pose1_to_pose2_press,0.580866869738,0.0100018948359,1.06004112582,0.551438588222,0.0186767186618,1.05967890677
+121,2.016666667,pose1_to_pose2_press,0.580918076852,0.010001892428,1.06004091927,0.551489795245,0.018676716648,1.059678717
+122,2.033333333,pose1_to_pose2_press,0.580977852768,0.0100018168118,1.06004088078,0.551549573531,0.0186766488798,1.05967867384
+123,2.050000000,pose1_to_pose2_press,0.58104442522,0.0100018364016,1.06004104848,0.551616145874,0.0186766678401,1.05967883527
+124,2.066666667,pose1_to_pose2_press,0.581117852283,0.0100018193709,1.06004079358,0.551689572838,0.0186766508018,1.05967858817
+125,2.083333333,pose1_to_pose2_press,0.5812036655,0.0100017269112,1.06004064007,0.551775387868,0.0186765645876,1.05967843689
+126,2.100000000,pose1_to_pose2_press,0.581301624863,0.010001756538,1.06004115587,0.551873346648,0.0186765922677,1.05967895336
+127,2.116666667,pose1_to_pose2_press,0.581413337069,0.0100018442586,1.0600408238,0.551985056252,0.0186766711409,1.05967862083
+128,2.133333333,pose1_to_pose2_press,0.581541568272,0.0100019279507,1.06004073214,0.552113286263,0.0186767505681,1.05967852386
+129,2.150000000,pose1_to_pose2_press,0.581688442325,0.010001841122,1.06004106445,0.552260162855,0.0186766722113,1.05967885274
+130,2.166666667,pose1_to_pose2_press,0.581851063901,0.0100018763946,1.06004099224,0.55242278308,0.0186767028747,1.05967877989
+131,2.183333333,pose1_to_pose2_press,0.582029725843,0.0100018950967,1.06004083883,0.552601446262,0.0186767262026,1.05967863641
+132,2.200000000,pose1_to_pose2_press,0.582227578079,0.0100018201571,1.06004111586,0.552799299521,0.0186766545318,1.05967890863
+133,2.216666667,pose1_to_pose2_press,0.582444521407,0.0100018200153,1.06004100211,0.553016241703,0.0186766507926,1.05967880166
+134,2.233333333,pose1_to_pose2_press,0.582683405344,0.0100018269033,1.06004093645,0.553255125839,0.0186766582506,1.05967873356
+135,2.250000000,pose1_to_pose2_press,0.582944388922,0.010001892771,1.0600409313,0.553516108213,0.0186767201048,1.05967873003
+136,2.266666667,pose1_to_pose2_press,0.583227819585,0.0100018363017,1.06004085948,0.553799539916,0.0186766671264,1.0596786572
+137,2.283333333,pose1_to_pose2_press,0.583530793959,0.0100018562193,1.06004082816,0.554102513909,0.0186766856197,1.05967862275
+138,2.300000000,pose1_to_pose2_press,0.583851913438,0.0100019310613,1.06004092078,0.554423632394,0.0186767568642,1.05967870991
+139,2.316666667,pose1_to_pose2_press,0.584192896738,0.0100018519925,1.0600408805,0.554764616556,0.0186766810554,1.0596786776
+140,2.333333333,pose1_to_pose2_press,0.584552198507,0.0100018174962,1.06004084823,0.555123917887,0.0186766453155,1.05967865107
+141,2.350000000,pose1_to_pose2_press,0.584930220177,0.0100018791554,1.06004100132,0.555501938916,0.0186767044081,1.05967879472
+142,2.366666667,pose1_to_pose2_press,0.585328737366,0.010001852942,1.06004105462,0.555900457218,0.0186766818314,1.05967884459
+143,2.383333333,pose1_to_pose2_press,0.585746884305,0.0100018856773,1.06004090375,0.556318602716,0.0186767097716,1.05967869594
+144,2.400000000,pose1_to_pose2_press,0.586188099664,0.0100019308917,1.06004070747,0.556759818067,0.0186767552652,1.05967850696
+145,2.416666667,pose1_to_pose2_press,0.586654338366,0.010001898951,1.06004082426,0.557226058206,0.0186767281439,1.05967862237
+146,2.433333333,pose1_to_pose2_press,0.587150783117,0.0100018874564,1.06004090392,0.557722502198,0.0186767142818,1.05967870704
+147,2.450000000,pose1_to_pose2_press,0.587671322015,0.010001886641,1.06004069273,0.5582430407,0.0186767119557,1.05967849177
+148,2.466666667,pose1_to_pose2_press,0.588213990457,0.010001859558,1.06004097802,0.558785708968,0.0186766837491,1.05967876427
+149,2.483333333,pose1_to_pose2_press,0.588775896441,0.0100018613765,1.06004093838,0.559347615703,0.0186766885917,1.05967873598
+150,2.500000000,pose1_to_pose2_press,0.589355038242,0.0100018500721,1.06004096847,0.55992675662,0.0186766739017,1.05967875672
+151,2.516666667,pose1_to_pose2_press,0.589953446629,0.0100019219557,1.06004110956,0.560525166177,0.0186767503016,1.05967891087
+152,2.533333333,pose1_to_pose2_press,0.590575294109,0.0100018444616,1.06004108722,0.561147014751,0.018676676344,1.05967888442
+153,2.550000000,pose1_to_pose2_press,0.591224557877,0.0100018979486,1.06004090961,0.561796276901,0.0186767241437,1.05967870197
+154,2.566666667,pose1_to_pose2_press,0.591890761904,0.010001973234,1.06004079453,0.562462480486,0.0186767984192,1.05967859855
+155,2.583333333,pose1_to_pose2_press,0.592570470047,0.0100019963191,1.06004065532,0.563142187335,0.0186768170703,1.05967845831
+156,2.600000000,pose1_to_pose2_press,0.593253238494,0.0100018972675,1.06004065144,0.56382495626,0.018676719321,1.0596784468
+157,2.616666667,pose1_to_pose2_press,0.593942622231,0.0100018408941,1.06004077869,0.564514341646,0.0186766683489,1.05967856939
+158,2.633333333,pose1_to_pose2_press,0.594650421625,0.0100018605891,1.06004085083,0.565222141824,0.0186766906398,1.05967864002
+159,2.650000000,pose1_to_pose2_press,0.595379822421,0.0100018077296,1.06004083648,0.565951543329,0.0186766403484,1.05967862945
+160,2.666666667,pose1_to_pose2_press,0.596131824644,0.0100017704929,1.06004080162,0.566703545677,0.0186766036051,1.05967859626
+161,2.683333333,pose1_to_pose2_press,0.596911538301,0.0100017482878,1.06004073602,0.56748325924,0.0186765810053,1.05967852894
+162,2.700000000,pose1_to_pose2_press,0.597712544311,0.0100017964901,1.06004081807,0.568284264671,0.0186766274308,1.05967861552
+163,2.716666667,pose1_to_pose2_press,0.598522559919,0.0100017933535,1.06004078928,0.569094280423,0.0186766249621,1.05967859101
+164,2.733333333,pose1_to_pose2_press,0.599334094649,0.0100018673541,1.06004072593,0.569905814142,0.0186766953992,1.05967852442
+165,2.750000000,pose1_to_pose2_press,0.600137758171,0.0100016250666,1.06004108115,0.570709481952,0.0186764673541,1.05967887236
+166,2.766666667,pose1_to_pose2_press,0.600934229869,0.010001831383,1.06004072829,0.571505949692,0.0186766604628,1.05967852481
+167,2.783333333,pose1_to_pose2_press,0.601724894565,0.0100017965971,1.06004070845,0.572296615325,0.0186766287818,1.05967850318
+168,2.800000000,pose1_to_pose2_press,0.602530633713,0.0100018630215,1.06004086713,0.573102353495,0.0186766921247,1.05967866755
+169,2.816666667,pose1_to_pose2_press,0.603357777504,0.0100018421334,1.06004077991,0.573929497081,0.0186766704082,1.0596785772
+170,2.833333333,pose1_to_pose2_press,0.604210440225,0.0100018302413,1.06004096361,0.574782160593,0.0186766608453,1.0596787524
+171,2.850000000,pose1_to_pose2_press,0.605083475586,0.0100018958637,1.06004102497,0.575655195643,0.0186767253966,1.0596788135
+172,2.866666667,pose1_to_pose2_press,0.605974606099,0.0100018411328,1.06004088423,0.576546326565,0.0186766722203,1.05967867669
+173,2.883333333,pose1_to_pose2_press,0.606842156254,0.0100017902292,1.06004073232,0.577413877353,0.0186766238242,1.05967853349
+174,2.900000000,pose1_to_pose2_press,0.607682277441,0.0100018294848,1.06004079379,0.578253997792,0.0186766606765,1.05967859817
+175,2.916666667,pose1_to_pose2_press,0.608500538594,0.0100018908366,1.06004088851,0.57907225749,0.0186767167704,1.05967868526
+176,2.933333333,pose1_to_pose2_press,0.609306347347,0.010001949005,1.06004084101,0.579878065179,0.0186767711807,1.05967863429
+177,2.950000000,pose1_to_pose2_press,0.610115124316,0.0100019682623,1.06004088212,0.580686842346,0.0186767913457,1.05967868112
+178,2.966666667,pose1_to_pose2_press,0.61093768403,0.0100019008372,1.0600409991,0.581509403243,0.0186767277634,1.05967879407
+179,2.983333333,pose1_to_pose2_press,0.611774816509,0.0100018153634,1.06004079074,0.582346535601,0.0186766416048,1.05967857919
+180,3.000000000,pose1_to_pose2_press,0.612615779072,0.0100018455822,1.06004106053,0.583187499946,0.0186766778178,1.05967884781
+181,3.016666667,pose1_to_pose2_press,0.613448970436,0.0100018928146,1.06004080731,0.58402068945,0.0186767193017,1.05967860812
+182,3.033333333,pose1_to_pose2_press,0.614255337445,0.0100018336949,1.06004081755,0.584827057606,0.0186766637931,1.05967861169
+183,3.050000000,pose1_to_pose2_press,0.615031867752,0.0100017174157,1.06004072507,0.585603587887,0.0186765472969,1.05967851616
+184,3.066666667,pose1_to_pose2_press,0.615771630696,0.0100020357421,1.06004066157,0.586343347867,0.0186768562049,1.05967846805
+185,3.083333333,pose1_to_pose2_press,0.616496808989,0.0100017959515,1.060040875,0.587068529323,0.0186766261056,1.05967865666
+186,3.100000000,pose1_to_pose2_press,0.617213519978,0.0100017747799,1.06004085249,0.587785239309,0.0186766018588,1.05967864201
+187,3.116666667,pose1_to_pose2_press,0.617931494862,0.0100018272423,1.06004080858,0.588503212619,0.0186766493966,1.05967860818
+188,3.133333333,pose1_to_pose2_press,0.618655126126,0.0100018913398,1.06004088777,0.58922684372,0.0186767129686,1.05967868822
+189,3.150000000,pose1_to_pose2_press,0.619383929695,0.0100018049905,1.06004092706,0.589955650166,0.0186766363826,1.05967872749
+190,3.166666667,pose1_to_pose2_press,0.620096080679,0.0100018757497,1.0600406966,0.590667801354,0.0186767076246,1.05967849157
+191,3.183333333,pose1_to_pose2_press,0.620780338077,0.0100018978823,1.06004083655,0.591352058351,0.0186767283367,1.05967863012
+192,3.200000000,pose1_to_pose2_press,0.621423043181,0.010001871303,1.06004076147,0.591994763737,0.0186767030352,1.05967856352
+193,3.216666667,pose1_to_pose2_press,0.62202730467,0.0100018540802,1.06004063257,0.592599024632,0.0186766836494,1.05967842964
+194,3.233333333,pose1_to_pose2_press,0.62260071427,0.0100018877394,1.0600406559,0.593172433384,0.0186767144707,1.05967845049
+195,3.250000000,pose1_to_pose2_press,0.623149819693,0.0100019859384,1.06004079347,0.593721537585,0.018676808851,1.05967859252
+196,3.266666667,pose1_to_pose2_press,0.623676786279,0.0100020333491,1.06004088206,0.594248503681,0.0186768549188,1.0596786852
+197,3.283333333,pose1_to_pose2_press,0.624187426595,0.0100019398894,1.0600408061,0.594759145744,0.0186767677633,1.05967861412
+198,3.300000000,pose1_to_pose2_press,0.624682984625,0.0100018890815,1.06004095793,0.595254703092,0.0186767141256,1.05967875062
+199,3.316666667,pose1_to_pose2_press,0.625162523091,0.0100018525513,1.06004095098,0.595734241238,0.0186766766062,1.05967874204
+200,3.333333333,pose1_to_pose2_press,0.625628144159,0.01000185179,1.060040748,0.596199863249,0.018676679048,1.05967853517
+201,3.350000000,pose1_to_pose2_press,0.62607972739,0.0100017659587,1.06004081108,0.596651448633,0.0186766011475,1.05967860943
+202,3.366666667,pose1_to_pose2_press,0.626509075135,0.0100019643892,1.06004082017,0.597080792255,0.018676785667,1.05967861646
+203,3.383333333,pose1_to_pose2_press,0.626907601109,0.0100018468596,1.06004067925,0.597479320662,0.0186766769737,1.05967848585
+204,3.400000000,pose1_to_pose2_press,0.62727429771,0.010001968249,1.06004077738,0.597846016404,0.0186767954061,1.05967857992
+205,3.416666667,pose1_to_pose2_press,0.627609477066,0.0100018840644,1.06004107652,0.598181196662,0.0186767141869,1.05967887365
+206,3.433333333,pose1_to_pose2_press,0.627918079249,0.0100018961454,1.06004092847,0.59848979811,0.018676723764,1.05967872259
+207,3.450000000,pose1_to_pose2_press,0.628209214917,0.0100019270926,1.06004074964,0.598780932852,0.0186767518143,1.05967854748
+208,3.466666667,pose1_to_pose2_press,0.628490336599,0.0100018691062,1.06004084782,0.599062055537,0.0186766974335,1.05967864827
+209,3.483333333,pose1_to_pose2_press,0.628760291529,0.0100017974267,1.060040986,0.599332011849,0.0186766303028,1.05967877998
+210,3.500000000,pose1_to_pose2_press,0.629016741794,0.0100017806876,1.06004101669,0.599588461188,0.0186766105719,1.05967881207
+211,3.516666667,pose1_to_pose2_press,0.62925311818,0.0100018480659,1.06004083127,0.599824838439,0.0186766808869,1.05967862489
+212,3.533333333,pose1_to_pose2_press,0.629468978785,0.0100018969734,1.06004082964,0.600040698021,0.0186767264401,1.05967862361
+213,3.550000000,pose1_to_pose2_press,0.629663658354,0.0100017736273,1.06004085757,0.600235378894,0.01867660732,1.05967864411
+214,3.566666667,pose1_to_pose2_press,0.629841126863,0.0100018498767,1.06004071744,0.600412846172,0.0186766798478,1.05967851389
+215,3.583333333,pose1_to_pose2_press,0.630002323695,0.0100018954088,1.06004106988,0.600574042859,0.0186767245391,1.05967885747
+216,3.600000000,pose1_to_pose2_press,0.630149815331,0.010001750255,1.06004076954,0.600721536274,0.0186765856463,1.05967856133
+217,3.616666667,pose1_to_pose2_press,0.63028311809,0.010001855417,1.06004068941,0.600854837756,0.0186766867946,1.0596784876
+218,3.633333333,pose1_to_pose2_press,0.630399759223,0.0100019588964,1.06004071654,0.600971477718,0.0186767861221,1.05967850943
+219,3.650000000,pose1_to_pose2_press,0.630500972974,0.0100018708549,1.06004070309,0.60107269119,0.0186766973008,1.0596784993
+220,3.666666667,pose1_to_pose2_press,0.630588019049,0.0100018853131,1.06004079265,0.601159737712,0.018676713125,1.05967858625
+221,3.683333333,pose1_to_pose2_press,0.630663172628,0.0100018028226,1.06004083873,0.601234892012,0.0186766330029,1.05967862983
+222,3.700000000,pose1_to_pose2_press,0.630726400873,0.0100018549215,1.06004096062,0.601298120252,0.0186766854091,1.05967875521
+223,3.716666667,pose1_to_pose2_press,0.630780764856,0.0100019273364,1.06004098716,0.601352483682,0.0186767563278,1.05967878835
+224,3.733333333,pose1_to_pose2_press,0.630826342143,0.0100019205078,1.06004086099,0.601398060477,0.0186767479704,1.05967866571
+225,3.750000000,pose1_to_pose2_press,0.630862528353,0.0100019480903,1.06004075659,0.601434246453,0.0186767747101,1.05967856063
+226,3.766666667,pose1_to_pose2_press,0.630891165949,0.0100019252955,1.06004068153,0.601462884132,0.0186767520324,1.05967848358
+227,3.783333333,pose1_to_pose2_press,0.630913658027,0.0100018247347,1.06004070834,0.601485376688,0.0186766527797,1.05967850638
+228,3.800000000,pose1_to_pose2_press,0.630931054422,0.010001784386,1.06004084067,0.601502774658,0.0186766176117,1.0596786325
+229,3.816666667,pose1_to_pose2_press,0.630943350962,0.0100019407403,1.06004062233,0.601515068176,0.0186767642069,1.05967842367
+230,3.833333333,pose1_to_pose2_press,0.630952772697,0.0100019094604,1.06004068506,0.601524491814,0.0186767394647,1.05967848948
+231,3.850000000,pose1_to_pose2_press,0.630959467686,0.010001806954,1.06004083783,0.601531188686,0.0186766431266,1.05967863849
+232,3.866666667,pose1_to_pose2_press,0.630963574504,0.0100017306548,1.06004093112,0.601535294687,0.0186765637392,1.0596787243
+233,3.883333333,pose1_to_pose2_press,0.630966125295,0.0100017654195,1.06004091642,0.60153784464,0.0186765954795,1.05967870547
+234,3.900000000,pose1_to_pose2_press,0.630967707938,0.0100018140926,1.06004088334,0.601539426653,0.0186766419111,1.05967867
+235,3.916666667,pose1_to_pose2_press,0.630968831492,0.0100018374063,1.06004087161,0.601540549938,0.0186766642612,1.05967865709
+236,3.933333333,pose1_to_pose2_press,0.630969572725,0.0100017821496,1.06004093782,0.601541292116,0.0186766123127,1.05967872571
+237,3.950000000,pose1_to_pose2_press,0.63097015074,0.0100017390604,1.06004098944,0.601541870866,0.0186765718033,1.05967877923
+238,3.966666667,pose1_to_pose2_press,0.630970658499,0.0100017012086,1.06004103479,0.601542379271,0.0186765362176,1.05967882623
+239,3.983333333,pose1_to_pose2_press,0.630971178662,0.0100016731808,1.06004105927,0.601542899976,0.0186765100993,1.05967885234
+240,4.000000000,pose1_to_pose2_press,0.630971635246,0.0100017051105,1.06004096515,0.601543356402,0.0186765415376,1.0596787593
+241,4.016666667,pose1_to_pose2_press,0.630972061419,0.0100017349136,1.06004087729,0.601543782429,0.0186765708821,1.05967867246
+242,4.033333333,pose1_to_pose2_press,0.630972344793,0.0100017485378,1.06004084848,0.601544065798,0.0186765844634,1.05967864286
+243,4.050000000,pose1_to_pose2_press,0.630972439855,0.0100017429171,1.06004088751,0.601544161013,0.0186765792597,1.05967867925
+244,4.066666667,pose1_to_pose2_press,0.630972575914,0.0100017348723,1.06004094339,0.601544297291,0.0186765718118,1.05967873134
+245,4.083333333,pose1_to_pose2_press,0.630972698203,0.0100017217415,1.06004097455,0.601544420017,0.0186765601741,1.05967876221
+246,4.100000000,pose1_to_pose2_press,0.630972699584,0.0100017210784,1.06004097324,0.601544421425,0.0186765596114,1.05967876117
+247,4.116666667,pose1_to_pose2_press,0.630972705372,0.0100017183002,1.06004096775,0.601544427322,0.0186765572536,1.05967875681
+248,4.133333333,pose1_to_pose2_press,0.630972835082,0.01000171067,1.06004098347,0.601544555179,0.0186765432213,1.05967876933
+249,4.150000000,pose2_hold,0.630972835082,0.01000171067,1.06004098347,0.601544555179,0.0186765432202,1.05967876934
+250,4.166666667,pose2_hold,0.630972835082,0.01000171067,1.06004098347,0.601544555179,0.0186765432203,1.05967876934
+251,4.183333333,pose2_hold,0.630972835082,0.01000171067,1.06004098347,0.601544555179,0.01867654322,1.05967876934
+252,4.200000000,pose2_hold,0.630972835082,0.01000171067,1.06004098347,0.601544555179,0.0186765432197,1.05967876934
+253,4.216666667,pose2_hold,0.630972835082,0.01000171067,1.06004098347,0.601544555179,0.0186765432199,1.05967876934
+254,4.233333333,pose2_hold,0.630972835082,0.01000171067,1.06004098347,0.601544555179,0.01867654322,1.05967876934
+255,4.250000000,pose2_hold,0.630972835082,0.01000171067,1.06004098347,0.601544555179,0.0186765432211,1.05967876934
+256,4.266666667,pose2_hold,0.630972835082,0.01000171067,1.06004098347,0.601544555179,0.0186765432212,1.05967876934
+257,4.283333333,pose2_hold,0.630972835082,0.01000171067,1.06004098347,0.601544555178,0.0186765432213,1.05967876934
+258,4.300000000,pose2_hold,0.630972835082,0.01000171067,1.06004098347,0.601544555178,0.0186765432225,1.05967876934
+259,4.316666667,pose2_hold,0.630972835082,0.01000171067,1.06004098347,0.601544555178,0.018676543222,1.05967876934
+260,4.333333333,pose2_hold,0.630972835082,0.01000171067,1.06004098347,0.601544555178,0.0186765432206,1.05967876934
+261,4.350000000,pose2_hold,0.630972835082,0.01000171067,1.06004098347,0.601544555178,0.0186765432193,1.05967876934
+262,4.366666667,pose2_hold,0.630972835082,0.01000171067,1.06004098347,0.601544555178,0.0186765432209,1.05967876934
+263,4.383333333,pose2_hold,0.630972835082,0.01000171067,1.06004098347,0.601544555177,0.0186765432227,1.05967876934
+264,4.400000000,pose2_hold,0.630972835082,0.01000171067,1.06004098347,0.601544555177,0.0186765432219,1.05967876934
+265,4.416666667,pose2_to_pose3_retreat,0.630972835082,0.01000171067,1.06004098347,0.601544555176,0.018676543221,1.05967876934
+266,4.433333333,pose2_to_pose3_retreat,0.630972747707,0.0100017188659,1.06004101317,0.60154446828,0.0186765527913,1.05967879303
+267,4.450000000,pose2_to_pose3_retreat,0.630972664736,0.0100017436142,1.0600410016,0.60154438551,0.0186765783383,1.05967878435
+268,4.466666667,pose2_to_pose3_retreat,0.630972626148,0.010001755318,1.06004099576,0.601544347013,0.0186765904078,1.05967877996
+269,4.483333333,pose2_to_pose3_retreat,0.630972599181,0.0100017634969,1.06004099168,0.60154432011,0.0186765988423,1.05967877689
+270,4.500000000,pose2_to_pose3_retreat,0.630972522866,0.0100017866434,1.06004098014,0.601544243974,0.0186766227121,1.05967876821
+271,4.516666667,pose2_to_pose3_retreat,0.630972112604,0.0100017785579,1.06004088031,0.60154383357,0.0186766145187,1.05967867723
+272,4.533333333,pose2_to_pose3_retreat,0.630970912521,0.0100016906267,1.06004065697,0.601542632213,0.0186765227193,1.0596784645
+273,4.550000000,pose2_to_pose3_retreat,0.630968328717,0.0100018326224,1.06004075207,0.601540047707,0.0186766616208,1.05967854251
+274,4.566666667,pose2_to_pose3_retreat,0.630960683735,0.0100018124305,1.0600407975,0.601532404184,0.0186766469886,1.05967860167
+275,4.583333333,pose2_to_pose3_retreat,0.630946073869,0.0100018193015,1.0600407158,0.601517792177,0.0186766462485,1.0596785105
+276,4.600000000,pose2_to_pose3_retreat,0.63092118092,0.0100019398788,1.06004074087,0.601492899503,0.0186767680427,1.05967854491
+277,4.616666667,pose2_to_pose3_retreat,0.630886171207,0.0100018160109,1.06004078708,0.601457891279,0.018676648915,1.05967858572
+278,4.633333333,pose2_to_pose3_retreat,0.630841003033,0.0100020284371,1.0600410976,0.601412720268,0.0186768512243,1.05967888497
+279,4.650000000,pose2_to_pose3_retreat,0.630787806777,0.0100016734161,1.06004070521,0.601359527573,0.0186765087634,1.0596785046
+280,4.666666667,pose2_to_pose3_retreat,0.630727028323,0.0100019683432,1.06004091204,0.601298745028,0.0186767898425,1.05967871381
+281,4.683333333,pose2_to_pose3_retreat,0.630658517829,0.0100019057108,1.06004085843,0.601230237149,0.0186767356854,1.05967864866
+282,4.700000000,pose2_to_pose3_retreat,0.63058119529,0.0100019368837,1.06004092764,0.601152913556,0.0186767636274,1.05967872678
+283,4.716666667,pose2_to_pose3_retreat,0.630491067491,0.0100018915401,1.0600408455,0.601062786861,0.0186767218295,1.05967864054
+284,4.733333333,pose2_to_pose3_retreat,0.630387899553,0.0100018847856,1.0600407368,0.600959619307,0.0186767164049,1.05967853334
+285,4.750000000,pose2_to_pose3_retreat,0.630268780182,0.0100018818988,1.0600407788,0.600840499201,0.0186767110012,1.05967857569
+286,4.766666667,pose2_to_pose3_retreat,0.630133594791,0.0100018556949,1.0600407133,0.600705312667,0.0186766811532,1.05967851693
+287,4.783333333,pose2_to_pose3_retreat,0.629981089624,0.0100018860642,1.06004079908,0.600552806888,0.018676709253,1.05967859964
+288,4.800000000,pose2_to_pose3_retreat,0.629808948936,0.0100018598408,1.06004096632,0.600380667382,0.0186766865973,1.05967875802
+289,4.816666667,pose2_to_pose3_retreat,0.629617304065,0.0100017693356,1.06004096061,0.600189023971,0.0186766010278,1.05967875339
+290,4.833333333,pose2_to_pose3_retreat,0.629406286709,0.0100018169739,1.06004094821,0.599978005713,0.0186766456757,1.05967874435
+291,4.850000000,pose2_to_pose3_retreat,0.629177318386,0.0100018720106,1.06004092667,0.599749037138,0.0186766997505,1.05967872255
+292,4.866666667,pose2_to_pose3_retreat,0.628928970017,0.0100017949762,1.06004080164,0.599500691887,0.0186766330554,1.05967859408
+293,4.883333333,pose2_to_pose3_retreat,0.62866163777,0.0100018062041,1.06004060343,0.599233357315,0.0186766364068,1.05967839847
+294,4.900000000,pose2_to_pose3_retreat,0.628374572455,0.0100020100404,1.0600409205,0.59894629058,0.0186768354759,1.05967871926
+295,4.916666667,pose2_to_pose3_retreat,0.628065188605,0.010001775854,1.06004094988,0.598636908119,0.0186766056744,1.05967874378
+296,4.933333333,pose2_to_pose3_retreat,0.627735217209,0.0100017372722,1.06004093293,0.598306938362,0.018676572678,1.05967873123
+297,4.950000000,pose2_to_pose3_retreat,0.627384526947,0.0100016891946,1.06004086202,0.597956249043,0.0186765276274,1.05967865874
+298,4.966666667,pose2_to_pose3_retreat,0.627017503465,0.010001765081,1.06004089915,0.597589224738,0.0186766005116,1.05967869408
+299,4.983333333,pose2_to_pose3_retreat,0.626634919828,0.0100017953653,1.06004088766,0.597206641152,0.0186766308176,1.05967868278
+300,5.000000000,pose2_to_pose3_retreat,0.626231472205,0.0100017612593,1.06004081484,0.596803193708,0.0186765972481,1.05967861237
+301,5.016666667,pose2_to_pose3_retreat,0.6258046374,0.0100018239448,1.06004083721,0.596376356756,0.0186766525602,1.05967863617
+302,5.033333333,pose2_to_pose3_retreat,0.625345735436,0.0100019874682,1.0600409311,0.595917452455,0.0186768077377,1.05967872309
+303,5.050000000,pose2_to_pose3_retreat,0.624854408679,0.0100019776615,1.06004073265,0.595426126134,0.018676799212,1.0596785241
+304,5.066666667,pose2_to_pose3_retreat,0.624328650674,0.0100017370475,1.06004095156,0.594900369975,0.0186765646862,1.05967874391
+305,5.083333333,pose2_to_pose3_retreat,0.623782700537,0.0100018561788,1.06004098019,0.594354419433,0.0186766820201,1.05967876693
+306,5.100000000,pose2_to_pose3_retreat,0.623221582821,0.0100018297275,1.06004087766,0.593793304088,0.0186766635646,1.05967866694
+307,5.116666667,pose2_to_pose3_retreat,0.622646119504,0.0100018534852,1.0600410311,0.593217839725,0.018676683641,1.05967881981
+308,5.133333333,pose2_to_pose3_retreat,0.622055220892,0.0100019703008,1.06004090347,0.592626939461,0.0186767951651,1.05967870258
+309,5.150000000,pose2_to_pose3_retreat,0.621442095634,0.0100018815822,1.06004079449,0.592013815002,0.018676709286,1.05967859799
+310,5.166666667,pose2_to_pose3_retreat,0.620801331338,0.0100017382519,1.06004082007,0.591373053088,0.018676573804,1.05967861809
+311,5.183333333,pose2_to_pose3_retreat,0.620128635221,0.0100017625165,1.0600408374,0.590700357629,0.0186766001942,1.05967863286
+312,5.200000000,pose2_to_pose3_retreat,0.619435772047,0.0100018452954,1.0600407801,0.590007492734,0.0186766773412,1.05967858041
+313,5.216666667,pose2_to_pose3_retreat,0.618725723255,0.0100018953937,1.06004067515,0.589297442811,0.0186767236756,1.05967847714
+314,5.233333333,pose2_to_pose3_retreat,0.617985348224,0.0100018110141,1.06004074403,0.588557067673,0.0186766386553,1.05967853925
+315,5.250000000,pose2_to_pose3_retreat,0.617219137372,0.0100017616578,1.06004098411,0.587790858091,0.0186765933275,1.05967877277
+316,5.266666667,pose2_to_pose3_retreat,0.616433950968,0.0100018850829,1.06004098769,0.587005671402,0.0186767156617,1.0596787733
+317,5.283333333,pose2_to_pose3_retreat,0.615635134293,0.0100018355855,1.06004082091,0.58620685481,0.0186766668612,1.05967861649
+318,5.300000000,pose2_to_pose3_retreat,0.614826087037,0.0100019194295,1.06004069341,0.585397805607,0.0186767444726,1.05967849428
+319,5.316666667,pose2_to_pose3_retreat,0.614028174856,0.0100017815981,1.06004071804,0.584599896493,0.0186766167915,1.05967851179
+320,5.333333333,pose2_to_pose3_retreat,0.61323739333,0.0100017409335,1.06004087382,0.583809115007,0.018676576459,1.05967867186
+321,5.350000000,pose2_to_pose3_retreat,0.612440175946,0.0100018203828,1.06004077319,0.583011896239,0.0186766512425,1.05967857183
+322,5.366666667,pose2_to_pose3_retreat,0.611626543183,0.0100019193859,1.06004075935,0.582198262326,0.0186767463039,1.05967855698
+323,5.383333333,pose2_to_pose3_retreat,0.610786074429,0.0100019521958,1.06004076294,0.581357793447,0.0186767786634,1.05967855999
+324,5.400000000,pose2_to_pose3_retreat,0.60991828339,0.0100018670804,1.0600407491,0.580490003165,0.0186766960684,1.05967854493
+325,5.416666667,pose2_to_pose3_retreat,0.609023567301,0.010001838309,1.06004086397,0.579595287125,0.0186766674296,1.05967865906
+326,5.433333333,pose2_to_pose3_retreat,0.608137344367,0.0100019296427,1.06004090793,0.578709063113,0.0186767551227,1.0596787034
+327,5.450000000,pose2_to_pose3_retreat,0.607263981073,0.010001885998,1.06004083535,0.577835699608,0.0186767106896,1.05967862904
+328,5.466666667,pose2_to_pose3_retreat,0.606404198076,0.0100020367825,1.06004085068,0.576975916163,0.0186768598728,1.05967864235
+329,5.483333333,pose2_to_pose3_retreat,0.605558197826,0.010001905554,1.06004087498,0.576129916545,0.0186767305546,1.05967866102
+330,5.500000000,pose2_to_pose3_retreat,0.604723939768,0.0100017790414,1.06004083376,0.575295660702,0.018676611921,1.05967862852
+331,5.516666667,pose2_to_pose3_retreat,0.603871370477,0.0100018488489,1.06004072548,0.574443090983,0.0186766803518,1.05967852203
+332,5.533333333,pose2_to_pose3_retreat,0.603000095555,0.010001722561,1.06004061748,0.573571816904,0.0186765569163,1.05967841379
+333,5.550000000,pose2_to_pose3_retreat,0.602114267028,0.0100018421431,1.06004059123,0.572685985963,0.0186766682565,1.05967838626
+334,5.566666667,pose2_to_pose3_retreat,0.601226664037,0.0100018113331,1.06004075822,0.571798383673,0.0186766397637,1.05967855178
+335,5.583333333,pose2_to_pose3_retreat,0.60035676119,0.010001853442,1.06004096828,0.570928481348,0.0186766838271,1.05967876622
+336,5.600000000,pose2_to_pose3_retreat,0.599515114566,0.0100019711805,1.0600409238,0.570086833436,0.0186767972234,1.0596787224
+337,5.616666667,pose2_to_pose3_retreat,0.598706480885,0.0100019674541,1.0600408881,0.569278198967,0.018676790661,1.05967868272
+338,5.633333333,pose2_to_pose3_retreat,0.597921223911,0.0100019505901,1.0600408654,0.568492941806,0.0186767731681,1.0596786602
+339,5.650000000,pose2_to_pose3_retreat,0.597149610279,0.0100019903484,1.0600407565,0.567721328762,0.0186768152147,1.05967855829
+340,5.666666667,pose2_to_pose3_retreat,0.596379594488,0.0100017724721,1.06004099886,0.566951316771,0.0186766103761,1.05967880416
+341,5.683333333,pose2_to_pose3_retreat,0.595601085872,0.0100017485931,1.06004084106,0.566172804809,0.0186765746257,1.05967863383
+342,5.700000000,pose2_to_pose3_retreat,0.594806088598,0.0100018667877,1.06004081812,0.565377806114,0.0186766882061,1.0596786159
+343,5.716666667,pose2_to_pose3_retreat,0.594026014083,0.0100018369264,1.06004083395,0.564597734195,0.0186766669779,1.05967862744
+344,5.733333333,pose2_to_pose3_retreat,0.593268526962,0.0100018852591,1.06004093336,0.563840244774,0.018676707643,1.05967873011
+345,5.750000000,pose2_to_pose3_retreat,0.592551540079,0.0100019445448,1.06004084399,0.563123259765,0.0186767732812,1.05967864064
+346,5.766666667,pose2_to_pose3_retreat,0.591875262014,0.0100018191223,1.06004082268,0.562446982051,0.0186766488806,1.05967861893
+347,5.783333333,pose2_to_pose3_retreat,0.591234975503,0.0100018706747,1.06004076254,0.561806694083,0.0186766953777,1.0596785571
+348,5.800000000,pose2_to_pose3_retreat,0.59060836836,0.0100019208039,1.06004079089,0.5611800859,0.0186767417812,1.05967858034
+349,5.816666667,pose2_to_pose3_retreat,0.589986659899,0.0100018599286,1.06004090831,0.560558378564,0.0186766846239,1.05967869537
+350,5.833333333,pose2_to_pose3_retreat,0.589360528699,0.0100018486298,1.06004088246,0.55993224905,0.0186766793713,1.05967867732
+351,5.850000000,pose2_to_pose3_retreat,0.588738266073,0.0100019296964,1.06004075024,0.559309985527,0.0186767576025,1.05967855002
+352,5.866666667,pose2_to_pose3_retreat,0.588145377522,0.0100018246843,1.06004098112,0.558717097129,0.0186766526505,1.05967876984
+353,5.883333333,pose2_to_pose3_retreat,0.58758524764,0.0100018408571,1.06004093313,0.558156967292,0.0186766692485,1.05967872838
+354,5.900000000,pose2_to_pose3_retreat,0.587061417386,0.0100018847054,1.06004083392,0.55763313669,0.0186767119272,1.05967862921
+355,5.916666667,pose2_to_pose3_retreat,0.586561577612,0.0100017181783,1.06004092021,0.557133298317,0.0186765504214,1.059678721
+356,5.933333333,pose2_to_pose3_retreat,0.586082043558,0.0100019028034,1.060040898,0.556653761561,0.018676725109,1.05967867954
+357,5.950000000,pose2_to_pose3_retreat,0.585625979629,0.0100019191777,1.06004084303,0.556197696262,0.0186767371811,1.05967863459
+358,5.966666667,pose2_to_pose3_retreat,0.585195403924,0.0100018911624,1.06004099174,0.555767122992,0.0186767177831,1.05967879158
+359,5.983333333,pose2_to_pose3_retreat,0.584794745009,0.0100018973407,1.0600408212,0.555366464317,0.0186767247061,1.0596786195
+360,6.000000000,pose2_to_pose3_retreat,0.584423672217,0.0100019139332,1.06004078595,0.554995391451,0.0186767408367,1.05967857911
+361,6.016666667,pose2_to_pose3_retreat,0.584082280224,0.0100019428103,1.06004089379,0.554653998477,0.0186767663144,1.0596786852
+362,6.033333333,pose2_to_pose3_retreat,0.583754263701,0.0100019496755,1.0600409268,0.554325980776,0.0186767691451,1.05967871737
+363,6.050000000,pose2_to_pose3_retreat,0.58343811764,0.0100018532907,1.06004084853,0.554009836587,0.018676679031,1.05967863717
+364,6.066666667,pose2_to_pose3_retreat,0.583137195091,0.0100017204372,1.06004078189,0.553708916043,0.0186765536278,1.05967858649
+365,6.083333333,pose2_to_pose3_retreat,0.582853563624,0.0100018196213,1.06004078653,0.553425283794,0.0186766502527,1.0596785929
+366,6.100000000,pose2_to_pose3_retreat,0.582591439665,0.0100018208286,1.06004080431,0.553163156547,0.0186766401833,1.05967860748
+367,6.116666667,pose2_to_pose3_retreat,0.582351220889,0.0100018445641,1.06004107778,0.552922939897,0.0186766706452,1.05967886973
+368,6.133333333,pose2_to_pose3_retreat,0.582133756199,0.0100018582417,1.06004108899,0.552705476307,0.0186766879015,1.05967887734
+369,6.150000000,pose2_to_pose3_retreat,0.5819358271,0.0100018567191,1.06004086679,0.552507545842,0.0186766819117,1.05967865915
+370,6.166666667,pose2_to_pose3_retreat,0.581756846524,0.0100017641668,1.06004084817,0.55232856796,0.0186765984956,1.05967864053
+371,6.183333333,pose2_to_pose3_retreat,0.581598371254,0.0100018521495,1.06004071612,0.552170092794,0.0186766871566,1.05967851639
+372,6.200000000,pose2_to_pose3_retreat,0.581458520915,0.0100019441423,1.06004089313,0.552030239273,0.0186767680617,1.05967868635
+373,6.216666667,pose2_to_pose3_retreat,0.581336786902,0.0100017945588,1.06004078304,0.551908507239,0.0186766252663,1.05967857807
+374,6.233333333,pose2_to_pose3_retreat,0.581229653762,0.0100018808033,1.06004091364,0.551801373979,0.0186767111658,1.05967871085
+375,6.250000000,pose2_to_pose3_retreat,0.58113617467,0.0100020101425,1.06004100566,0.551707892844,0.018676833493,1.05967880117
+376,6.266666667,pose2_to_pose3_retreat,0.581055093515,0.0100019039267,1.06004101862,0.55162681309,0.0186767319291,1.05967881144
+377,6.283333333,pose2_to_pose3_retreat,0.580985707781,0.0100017665492,1.06004096503,0.551557428833,0.0186765995791,1.05967875821
+378,6.300000000,pose2_to_pose3_retreat,0.58092867876,0.0100017831525,1.0600408214,0.55150039918,0.0186766141531,1.05967861724
+379,6.316666667,pose2_to_pose3_retreat,0.58088294613,0.0100018554836,1.06004094233,0.551454666813,0.0186766874127,1.05967873904
+380,6.333333333,pose2_to_pose3_retreat,0.580848410807,0.0100018844175,1.0600411245,0.551420130562,0.0186767131606,1.05967892026
+381,6.350000000,pose2_to_pose3_retreat,0.580820935194,0.0100018193376,1.06004085493,0.551392653171,0.018676641718,1.05967864283
+382,6.366666667,pose2_to_pose3_retreat,0.580800011288,0.0100018496514,1.06004101815,0.551371730324,0.0186766760233,1.05967881562
+383,6.383333333,pose2_to_pose3_retreat,0.580783540832,0.0100018152642,1.06004100114,0.551355259157,0.0186766390716,1.05967879511
+384,6.400000000,pose2_to_pose3_retreat,0.580770780904,0.0100019031698,1.06004090714,0.55134249772,0.0186767218297,1.05967870048
+385,6.416666667,pose2_to_pose3_retreat,0.580761710983,0.0100019960486,1.06004085662,0.551333427529,0.018676813864,1.05967865172
+386,6.433333333,pose2_to_pose3_retreat,0.58075521064,0.0100018122043,1.06004097233,0.551326930912,0.0186766424278,1.0596787616
+387,6.450000000,pose2_to_pose3_retreat,0.580750758712,0.0100017936568,1.06004089514,0.551322479849,0.0186766268748,1.05967868586
+388,6.466666667,pose2_to_pose3_retreat,0.580747968805,0.0100018090616,1.06004087081,0.551319689902,0.0186766423436,1.05967866625
+389,6.483333333,pose2_to_pose3_retreat,0.580746344083,0.0100018338884,1.06004090192,0.551318064739,0.0186766659344,1.05967870353
+390,6.500000000,pose2_to_pose3_retreat,0.580745278632,0.0100018355936,1.06004096273,0.551316998976,0.018676666556,1.05967876372
+391,6.516666667,pose2_to_pose3_retreat,0.580744730381,0.0100018273135,1.06004101941,0.55131645055,0.0186766575468,1.05967881713
+392,6.533333333,pose2_to_pose3_retreat,0.580744610072,0.0100018254965,1.06004103184,0.551316330204,0.0186766555698,1.05967882886
+393,6.550000000,pose2_to_pose3_retreat,0.580744445877,0.0100018230167,1.06004104882,0.551316165956,0.0186766528716,1.05967884485
+394,6.566666667,pose2_to_pose3_retreat,0.580744070619,0.0100018603968,1.0600410788,0.551315790555,0.0186766896469,1.05967887196
+395,6.583333333,pose2_to_pose3_retreat,0.580743961922,0.0100018792145,1.06004108586,0.551315681813,0.0186767082697,1.05967887806
+396,6.600000000,pose2_to_pose3_retreat,0.580743936647,0.0100018835901,1.0600410875,0.551315656527,0.0186767126,1.05967887948
+397,6.616666667,pose2_to_pose3_retreat,0.580743867116,0.0100018956275,1.06004109201,0.551315586966,0.0186767245128,1.05967888337
+398,6.633333333,pose2_to_pose3_retreat,0.580743841734,0.0100019000216,1.06004109365,0.551315561574,0.0186767288614,1.0596788848
+399,6.650000000,pose2_to_pose3_retreat,0.580743764397,0.0100019134102,1.06004109867,0.551315484205,0.0186767421114,1.05967888914
+400,6.666666667,pose2_to_pose3_retreat,0.580743665733,0.0100019212175,1.06004107938,0.551315385438,0.0186767495576,1.0596788695
+401,6.683333333,pose2_to_pose3_retreat,0.580743561062,0.0100018335501,1.06004079309,0.55131528003,0.0186766596014,1.05967858825
+402,6.700000000,pose2_to_pose3_retreat,0.580743513451,0.0100017926037,1.06004069933,0.551315232471,0.0186766188816,1.05967849574
+403,6.716666667,pose2_to_pose3_retreat,0.580743492633,0.0100017733995,1.06004070267,0.551315212146,0.0186766013179,1.05967849835
+404,6.733333333,pose2_to_pose3_retreat,0.580743487178,0.0100017683667,1.06004070355,0.55131520682,0.018676596715,1.05967849903
+405,6.750000000,pose2_to_pose3_retreat,0.580743483249,0.0100017647421,1.06004070418,0.551315202983,0.0186765934,1.05967849953
+406,6.766666667,pose2_to_pose3_retreat,0.580743481329,0.0100017629709,1.06004070449,0.551315201109,0.0186765917802,1.05967849977
+407,6.783333333,pose2_to_pose3_retreat,0.580743477361,0.0100017593104,1.06004070513,0.551315197235,0.0186765884324,1.05967850026
+408,6.800000000,pose2_to_pose3_retreat,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+409,6.816666667,pose2_to_pose3_retreat,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186

Part2/Obstacle_avoidance/ball_0030_15/position_12/depth_01/fem_node.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ebc9c50b97943e02eff4df0bfb9fa5f8b864cfa660d9d6a613c6244cbc255b65
+size 25714219

Part2/Obstacle_avoidance/ball_0030_15/position_12/depth_01/simulation_data.csv

@@ -0,0 +1,406 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+1,0.016666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+2,0.033333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+3,0.050000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+4,0.066666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+5,0.083333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+6,0.100000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+7,0.116666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+8,0.133333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+9,0.150000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+10,0.166666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+11,0.183333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+12,0.200000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+13,0.216666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+14,0.233333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+15,0.250000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+16,0.266666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+17,0.283333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+18,0.300000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+19,0.316666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+20,0.333333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+21,0.350000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+22,0.366666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+23,0.383333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+24,0.400000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+25,0.416666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+26,0.433333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+27,0.450000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+28,0.466666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+29,0.483333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+30,0.500000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+31,0.516666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+32,0.533333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+33,0.550000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+34,0.566666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+35,0.583333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+36,0.600000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+37,0.616666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+38,0.633333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+39,0.650000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+40,0.666666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+41,0.683333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+42,0.700000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+43,0.716666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+44,0.733333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+45,0.750000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+46,0.766666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+47,0.783333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+48,0.800000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+49,0.816666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+50,0.833333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+51,0.850000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+52,0.866666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+53,0.883333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+54,0.900000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+55,0.916666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+56,0.933333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+57,0.950000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+58,0.966666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+59,0.983333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+60,1.000000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+61,1.016666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+62,1.033333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+63,1.050000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+64,1.066666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+65,1.083333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+66,1.100000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+67,1.116666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+68,1.133333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+69,1.150000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+70,1.166666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+71,1.183333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+72,1.200000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+73,1.216666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+74,1.233333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+75,1.250000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+76,1.266666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+77,1.283333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+78,1.300000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+79,1.316666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+80,1.333333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+81,1.350000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+82,1.366666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+83,1.383333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+84,1.400000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+85,1.416666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+86,1.433333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+87,1.450000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+88,1.466666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+89,1.483333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+90,1.500000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+91,1.516666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+92,1.533333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+93,1.550000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+94,1.566666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+95,1.583333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+96,1.600000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+97,1.616666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+98,1.633333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+99,1.650000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+100,1.666666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+101,1.683333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+102,1.700000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+103,1.716666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+104,1.733333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+105,1.750000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+106,1.766666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+107,1.783333333,pose1_to_pose2_press,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+108,1.800000000,pose1_to_pose2_press,0.580743556959,0.0100018512407,1.070040981,0.551315275794,0.018676676427,1.06967876628
+109,1.816666667,pose1_to_pose2_press,0.580743557019,0.0100018550179,1.07004097911,0.551315275779,0.0186766799646,1.06967876479
+110,1.833333333,pose1_to_pose2_press,0.580743557235,0.0100018686495,1.07004097231,0.551315275722,0.0186766927313,1.0696787594
+111,1.850000000,pose1_to_pose2_press,0.580743557433,0.0100018811684,1.07004096606,0.55131527567,0.0186767044559,1.06967875445
+112,1.866666667,pose1_to_pose2_press,0.580743557521,0.0100018867573,1.07004096327,0.551315275647,0.0186767096902,1.06967875224
+113,1.883333333,pose1_to_pose2_press,0.580743557833,0.0100019063979,1.07004095347,0.551315275566,0.0186767280847,1.06967874448
+114,1.900000000,pose1_to_pose2_press,0.580743785623,0.0100019045595,1.07004086494,0.551315503558,0.0186767269671,1.06967865682
+115,1.916666667,pose1_to_pose2_press,0.580744790865,0.0100018954324,1.07004077772,0.551316508888,0.0186767181254,1.06967856923
+116,1.933333333,pose1_to_pose2_press,0.580749296075,0.010001911078,1.0700407131,0.551321014086,0.0186767340709,1.06967851288
+117,1.950000000,pose1_to_pose2_press,0.58075925496,0.0100018105807,1.07004072886,0.551330974765,0.0186766393326,1.06967852066
+118,1.966666667,pose1_to_pose2_press,0.580778636675,0.0100018379682,1.07004096731,0.551350356019,0.0186766654574,1.06967876631
+119,1.983333333,pose1_to_pose2_press,0.580808035755,0.0100018787541,1.07004084097,0.551379753724,0.0186767014265,1.06967863616
+120,2.000000000,pose1_to_pose2_press,0.580848610812,0.010001774681,1.07004071824,0.551420331148,0.0186766054801,1.06967851574
+121,2.016666667,pose1_to_pose2_press,0.58089924736,0.0100018891643,1.07004084812,0.551470966867,0.0186767173696,1.06967865073
+122,2.033333333,pose1_to_pose2_press,0.580959843152,0.0100018975891,1.07004081446,0.551531560669,0.0186767191774,1.06967862026
+123,2.050000000,pose1_to_pose2_press,0.581028527965,0.0100018069881,1.07004092482,0.551600247787,0.0186766358149,1.06967871665
+124,2.066666667,pose1_to_pose2_press,0.581105284529,0.0100018221557,1.0700408589,0.55167700392,0.0186766496213,1.06967865311
+125,2.083333333,pose1_to_pose2_press,0.581194061652,0.0100018283499,1.07004095031,0.551765779972,0.0186766517676,1.06967873448
+126,2.100000000,pose1_to_pose2_press,0.581294722152,0.010001856586,1.0700410544,0.551866441117,0.0186766823123,1.06967884138
+127,2.116666667,pose1_to_pose2_press,0.581410285893,0.0100018837193,1.07004093313,0.551982004068,0.018676706891,1.06967872317
+128,2.133333333,pose1_to_pose2_press,0.581540753755,0.0100018298386,1.07004085952,0.552112473177,0.018676657673,1.06967865988
+129,2.150000000,pose1_to_pose2_press,0.581686735672,0.0100018282577,1.07004096887,0.552258457038,0.0186766627915,1.06967877178
+130,2.166666667,pose1_to_pose2_press,0.581845349627,0.0100018398711,1.07004099933,0.552417071026,0.0186766743444,1.06967879798
+131,2.183333333,pose1_to_pose2_press,0.582016080997,0.01000174983,1.07004090293,0.552587802399,0.0186765841694,1.0696786981
+132,2.200000000,pose1_to_pose2_press,0.582200039703,0.0100017166513,1.07004089769,0.552771760861,0.0186765499922,1.06967868872
+133,2.216666667,pose1_to_pose2_press,0.582399172152,0.0100019158784,1.07004099855,0.552970890542,0.0186767402844,1.06967880045
+134,2.233333333,pose1_to_pose2_press,0.582618773403,0.0100018649699,1.07004080151,0.553190493948,0.0186766965636,1.06967860041
+135,2.250000000,pose1_to_pose2_press,0.582861265559,0.0100018043975,1.07004093276,0.553432986122,0.0186766359895,1.06967873008
+136,2.266666667,pose1_to_pose2_press,0.583127296885,0.0100017164185,1.07004085374,0.553699016925,0.0186765460012,1.06967864539
+137,2.283333333,pose1_to_pose2_press,0.583417795362,0.0100018385273,1.07004070683,0.553989514212,0.0186766643747,1.06967850568
+138,2.300000000,pose1_to_pose2_press,0.583730497182,0.0100019277321,1.07004090338,0.554302215571,0.0186767516323,1.06967869292
+139,2.316666667,pose1_to_pose2_press,0.584065205098,0.0100018452395,1.07004088508,0.554636924869,0.018676673802,1.06967867397
+140,2.333333333,pose1_to_pose2_press,0.5844190505,0.0100017049541,1.07004090161,0.554990771882,0.018676539262,1.06967869721
+141,2.350000000,pose1_to_pose2_press,0.584791701365,0.0100017348047,1.07004077954,0.555363423274,0.0186765711768,1.06967858171
+142,2.366666667,pose1_to_pose2_press,0.585183249732,0.0100017439931,1.07004076574,0.555754971218,0.0186765785739,1.06967855932
+143,2.383333333,pose1_to_pose2_press,0.58559319858,0.0100017492811,1.07004083707,0.556164919552,0.0186765819722,1.06967862708
+144,2.400000000,pose1_to_pose2_press,0.586018123795,0.0100018338032,1.07004073404,0.556589844258,0.0186766653942,1.06967853906
+145,2.416666667,pose1_to_pose2_press,0.586461479958,0.0100018184246,1.07004066476,0.557033199735,0.0186766478462,1.06967847349
+146,2.433333333,pose1_to_pose2_press,0.586931049796,0.0100018106527,1.07004082841,0.557502769774,0.0186766402025,1.0696786239
+147,2.450000000,pose1_to_pose2_press,0.587428988319,0.0100017985975,1.07004095144,0.558000707716,0.0186766260877,1.06967874475
+148,2.466666667,pose1_to_pose2_press,0.587958233299,0.0100017184021,1.07004111809,0.558529955225,0.0186765539266,1.06967889828
+149,2.483333333,pose1_to_pose2_press,0.588516634896,0.0100018520787,1.07004086974,0.559088353862,0.0186766778112,1.06967865588
+150,2.500000000,pose1_to_pose2_press,0.58909781657,0.0100018462317,1.07004087325,0.559669535472,0.0186766716693,1.06967865743
+151,2.516666667,pose1_to_pose2_press,0.589686608127,0.0100018589813,1.07004071763,0.560258328025,0.0186766882085,1.06967851166
+152,2.533333333,pose1_to_pose2_press,0.590282711393,0.010001892008,1.07004081227,0.560854429979,0.0186767166771,1.06967860368
+153,2.550000000,pose1_to_pose2_press,0.590889774725,0.010001818527,1.07004075647,0.561461493728,0.0186766445408,1.06967854624
+154,2.566666667,pose1_to_pose2_press,0.591512692726,0.0100018001761,1.0700406384,0.562084412031,0.0186766273012,1.06967843023
+155,2.583333333,pose1_to_pose2_press,0.59215429761,0.010001904662,1.07004070035,0.562726015984,0.0186767287834,1.06967849586
+156,2.600000000,pose1_to_pose2_press,0.592816725951,0.0100019437748,1.07004081856,0.563388443898,0.0186767663656,1.0696786121
+157,2.616666667,pose1_to_pose2_press,0.593494909012,0.0100018803281,1.07004082858,0.564066627312,0.0186767040428,1.06967862036
+158,2.633333333,pose1_to_pose2_press,0.594186535692,0.0100019101017,1.07004074361,0.564758253576,0.0186767326597,1.06967854141
+159,2.650000000,pose1_to_pose2_press,0.594897723075,0.0100019469159,1.07004063884,0.565469441167,0.0186767701905,1.06967843691
+160,2.666666667,pose1_to_pose2_press,0.595634904245,0.0100017422414,1.07004095039,0.566206624376,0.0186765723053,1.06967874539
+161,2.683333333,pose1_to_pose2_press,0.596387099468,0.0100018615028,1.07004105887,0.566958818488,0.0186766874731,1.06967884617
+162,2.700000000,pose1_to_pose2_press,0.597149764942,0.0100019127052,1.07004079735,0.567721483889,0.0186767389301,1.06967859669
+163,2.716666667,pose1_to_pose2_press,0.597918441958,0.0100018262499,1.0700407976,0.56849016238,0.0186766575059,1.0696785976
+164,2.733333333,pose1_to_pose2_press,0.598686828228,0.0100018530603,1.07004079982,0.569258546504,0.0186766770113,1.06967859923
+165,2.750000000,pose1_to_pose2_press,0.599454814078,0.0100018504835,1.07004079589,0.57002653244,0.0186766747297,1.06967859541
+166,2.766666667,pose1_to_pose2_press,0.600228274477,0.0100018390022,1.07004085256,0.570799994716,0.0186766699541,1.06967866018
+167,2.783333333,pose1_to_pose2_press,0.601005931959,0.0100019200781,1.07004080993,0.571577650695,0.018676745902,1.06967861693
+168,2.800000000,pose1_to_pose2_press,0.601790242734,0.0100018831403,1.07004094158,0.572361961169,0.018676707611,1.06967874061
+169,2.816666667,pose1_to_pose2_press,0.602575485065,0.0100018936979,1.07004088498,0.573147203713,0.0186767186397,1.06967867798
+170,2.833333333,pose1_to_pose2_press,0.603354004624,0.0100018979401,1.07004078618,0.573925723932,0.0186767253203,1.06967858403
+171,2.850000000,pose1_to_pose2_press,0.604135575935,0.0100018509299,1.07004082606,0.574707296127,0.0186766816012,1.06967863088
+172,2.866666667,pose1_to_pose2_press,0.604925227213,0.0100019405108,1.07004068555,0.575496946199,0.018676766836,1.06967848442
+173,2.883333333,pose1_to_pose2_press,0.60572277716,0.010001913714,1.07004070881,0.57629449603,0.0186767395598,1.06967850566
+174,2.900000000,pose1_to_pose2_press,0.606528928761,0.0100018591709,1.07004083715,0.577100647575,0.0186766849852,1.06967863782
+175,2.916666667,pose1_to_pose2_press,0.60733417663,0.0100018432072,1.07004114119,0.577905896787,0.0186766734448,1.0696789388
+176,2.933333333,pose1_to_pose2_press,0.608130158021,0.0100019970306,1.07004072273,0.578701874888,0.018676815806,1.06967851306
+177,2.950000000,pose1_to_pose2_press,0.608902384858,0.0100018041652,1.07004090943,0.57947410444,0.0186766323994,1.06967870583
+178,2.966666667,pose1_to_pose2_press,0.609659257109,0.0100018094311,1.07004081778,0.580230977153,0.0186766394057,1.06967861846
+179,2.983333333,pose1_to_pose2_press,0.610407236579,0.0100019005387,1.07004090738,0.580978955186,0.0186767254272,1.06967870292
+180,3.000000000,pose1_to_pose2_press,0.611153208123,0.010001788784,1.07004089301,0.581724928112,0.0186766180132,1.06967868035
+181,3.016666667,pose1_to_pose2_press,0.611901347828,0.0100018806952,1.07004089166,0.582473066727,0.0186767064866,1.06967868528
+182,3.033333333,pose1_to_pose2_press,0.612655909035,0.0100019050568,1.07004082714,0.583227627715,0.0186767305788,1.06967863219
+183,3.050000000,pose1_to_pose2_press,0.613401631471,0.0100018225532,1.07004089134,0.583973351759,0.0186766535463,1.06967869681
+184,3.066666667,pose1_to_pose2_press,0.614127956203,0.0100018299156,1.07004093964,0.584699676891,0.0186766618784,1.06967873595
+185,3.083333333,pose1_to_pose2_press,0.614824823721,0.0100018684648,1.0700408062,0.585396543569,0.0186766976472,1.06967860426
+186,3.100000000,pose1_to_pose2_press,0.615489996179,0.0100019338109,1.07004084785,0.586061714663,0.0186767586712,1.06967865319
+187,3.116666667,pose1_to_pose2_press,0.616128756026,0.01000197689,1.07004101171,0.586700473719,0.0186767986234,1.06967880656
+188,3.133333333,pose1_to_pose2_press,0.616746554053,0.010001891389,1.07004084657,0.587318271966,0.018676713974,1.06967864404
+189,3.150000000,pose1_to_pose2_press,0.617354585431,0.010001819615,1.07004119368,0.587926305145,0.0186766480641,1.06967898528
+190,3.166666667,pose1_to_pose2_press,0.617961825963,0.0100016689962,1.07004079968,0.588533547648,0.0186765047687,1.06967860664
+191,3.183333333,pose1_to_pose2_press,0.618570054137,0.0100018463253,1.07004089944,0.589141773481,0.0186766739462,1.06967870142
+192,3.200000000,pose1_to_pose2_press,0.619166019966,0.0100018405924,1.07004069178,0.589737740165,0.0186766711651,1.06967849543
+193,3.216666667,pose1_to_pose2_press,0.619743021411,0.0100017752977,1.07004079678,0.590314741743,0.018676605987,1.06967859241
+194,3.233333333,pose1_to_pose2_press,0.620285129795,0.0100017672642,1.07004103235,0.590856850694,0.0186765996101,1.06967882147
+195,3.250000000,pose1_to_pose2_press,0.620793646063,0.0100018106873,1.07004087174,0.591365365587,0.0186766387857,1.06967867079
+196,3.266666667,pose1_to_pose2_press,0.621268484375,0.0100018235383,1.07004079266,0.591840204696,0.018676654464,1.06967859455
+197,3.283333333,pose1_to_pose2_press,0.621720920265,0.010001910776,1.07004085151,0.592292640509,0.0186767415428,1.06967865552
+198,3.300000000,pose1_to_pose2_press,0.622152309145,0.0100018832981,1.07004077934,0.592724028769,0.0186767117855,1.06967857824
+199,3.316666667,pose1_to_pose2_press,0.622562448217,0.0100017601171,1.07004068219,0.593134168218,0.0186765895855,1.0696784725
+200,3.333333333,pose1_to_pose2_press,0.622951292036,0.0100018067544,1.07004085093,0.593523012226,0.0186766371046,1.06967864497
+201,3.350000000,pose1_to_pose2_press,0.623316399389,0.0100018133484,1.07004093944,0.593888119455,0.0186766433173,1.06967873135
+202,3.366666667,pose1_to_pose2_press,0.62366262288,0.0100019494258,1.07004082781,0.59423434145,0.0186767745059,1.06967862188
+203,3.383333333,pose1_to_pose2_press,0.623991992714,0.0100019678435,1.07004083416,0.594563710859,0.018676791438,1.06967862555
+204,3.400000000,pose1_to_pose2_press,0.624307499974,0.0100018976368,1.07004083764,0.594879219185,0.018676724865,1.06967862683
+205,3.416666667,pose1_to_pose2_press,0.624609371527,0.0100018980464,1.07004099453,0.595181090341,0.0186767242215,1.06967878862
+206,3.433333333,pose1_to_pose2_press,0.624896632148,0.0100017391659,1.07004092362,0.595468353853,0.0186765750957,1.0696787137
+207,3.450000000,pose1_to_pose2_press,0.625166697907,0.0100017086244,1.07004093522,0.595738419439,0.0186765439196,1.06967872221
+208,3.466666667,pose1_to_pose2_press,0.625414112569,0.0100017440632,1.07004097092,0.595985833167,0.0186765763283,1.06967875934
+209,3.483333333,pose1_to_pose2_press,0.625639569577,0.0100017784052,1.07004083631,0.596211289447,0.0186766083082,1.06967862495
+210,3.500000000,pose1_to_pose2_press,0.625841946088,0.0100018240345,1.07004070154,0.596413665132,0.0186766515157,1.06967849742
+211,3.516666667,pose1_to_pose2_press,0.626021660546,0.010001824256,1.07004074933,0.59659337989,0.0186766528042,1.06967854486
+212,3.533333333,pose1_to_pose2_press,0.626180634506,0.0100018685838,1.0700407977,0.596752353671,0.018676696388,1.06967858865
+213,3.550000000,pose1_to_pose2_press,0.626321738224,0.010001974879,1.07004066767,0.596893456026,0.0186767986122,1.06967847056
+214,3.566666667,pose1_to_pose2_press,0.626447991967,0.0100017173599,1.07004070421,0.597019713065,0.0186765519895,1.06967849915
+215,3.583333333,pose1_to_pose2_press,0.626559852808,0.0100018778257,1.07004096798,0.597131571105,0.0186767025587,1.06967875222
+216,3.600000000,pose1_to_pose2_press,0.626660486871,0.0100018078487,1.07004096254,0.59723220607,0.0186766359213,1.06967875271
+217,3.616666667,pose1_to_pose2_press,0.626749940255,0.0100017894915,1.07004080619,0.597321659998,0.0186766194984,1.06967859686
+218,3.633333333,pose1_to_pose2_press,0.626828592462,0.0100018741911,1.07004082168,0.597400310597,0.0186766990212,1.06967861764
+219,3.650000000,pose1_to_pose2_press,0.626897459384,0.0100018826024,1.07004097889,0.59746917808,0.0186767093488,1.0696787752
+220,3.666666667,pose1_to_pose2_press,0.626956767624,0.010001826483,1.0700410866,0.597528488622,0.01867666067,1.06967887498
+221,3.683333333,pose1_to_pose2_press,0.627007553108,0.0100019038496,1.0700410689,0.597579272249,0.0186767317206,1.06967885645
+222,3.700000000,pose1_to_pose2_press,0.627049479562,0.0100018616406,1.07004095947,0.597621197995,0.0186766872893,1.06967874922
+223,3.716666667,pose1_to_pose2_press,0.627084320526,0.0100019070484,1.07004087406,0.59765603765,0.0186767279919,1.06967865907
+224,3.733333333,pose1_to_pose2_press,0.627112373117,0.0100018587436,1.07004061162,0.597684092203,0.0186766868357,1.06967840824
+225,3.750000000,pose1_to_pose2_press,0.627134606423,0.0100017385614,1.07004065834,0.597706328091,0.0186765754185,1.06967845425
+226,3.766666667,pose1_to_pose2_press,0.627151753481,0.0100017781004,1.07004082324,0.597723472843,0.0186766073309,1.06967862283
+227,3.783333333,pose1_to_pose2_press,0.627164017995,0.0100018438197,1.07004082946,0.597735735465,0.0186766664416,1.06967862408
+228,3.800000000,pose1_to_pose2_press,0.62717278184,0.0100018763381,1.07004076193,0.597744499528,0.0186766994356,1.0696785503
+229,3.816666667,pose1_to_pose2_press,0.627178495891,0.0100019050336,1.07004080733,0.597750214379,0.0186767311581,1.06967860337
+230,3.833333333,pose1_to_pose2_press,0.627182171031,0.010001939058,1.07004090891,0.597753889008,0.0186767632144,1.06967869924
+231,3.850000000,pose1_to_pose2_press,0.627184438147,0.0100019621271,1.07004098124,0.597756155672,0.0186767845462,1.06967876663
+232,3.866666667,pose1_to_pose2_press,0.627185882409,0.0100019462154,1.0700408456,0.597757600328,0.0186767701909,1.06967863632
+233,3.883333333,pose1_to_pose2_press,0.627186829981,0.0100019355023,1.07004075497,0.597758548163,0.0186767605226,1.06967854927
+234,3.900000000,pose1_to_pose2_press,0.627187476893,0.0100019281883,1.07004069311,0.597759195256,0.018676753922,1.06967848984
+235,3.916666667,pose1_to_pose2_press,0.627187746332,0.0100019403153,1.07004072596,0.597759464573,0.01867676564,1.06967852276
+236,3.933333333,pose1_to_pose2_press,0.627187768611,0.0100019415891,1.07004072972,0.597759486839,0.0186767668673,1.06967852651
+237,3.950000000,pose1_to_pose2_press,0.627187911996,0.0100019497868,1.07004075394,0.597759630136,0.0186767747661,1.06967855067
+238,3.966666667,pose1_to_pose2_press,0.627188069104,0.0100019587692,1.07004078047,0.59775978715,0.018676783421,1.06967857713
+239,3.983333333,pose1_to_pose2_press,0.627188094481,0.0100019602201,1.07004078476,0.597759812511,0.018676784819,1.0696785814
+240,4.000000000,pose1_to_pose2_press,0.627188293862,0.0100019716193,1.07004081844,0.59776001177,0.0186767958026,1.06967861499
+241,4.016666667,pose1_to_pose2_press,0.627188774683,0.0100019991093,1.07004089965,0.5977604923,0.0186768222903,1.06967869597
+242,4.033333333,pose1_to_pose2_press,0.62718928504,0.0100019277749,1.07004099834,0.597761002962,0.0186767518841,1.06967879211
+243,4.050000000,pose1_to_pose2_press,0.627189698665,0.0100018308169,1.07004104062,0.597761417135,0.0186766566679,1.06967883162
+244,4.066666667,pose1_to_pose2_press,0.627189968125,0.0100019033321,1.07004097051,0.597761687574,0.0186767324173,1.0696787592
+245,4.083333333,pose2_hold,0.627189968125,0.0100019033321,1.07004097051,0.597761687577,0.0186767324146,1.0696787592
+246,4.100000000,pose2_hold,0.627189968125,0.0100019033321,1.07004097051,0.597761687577,0.0186767324132,1.0696787592
+247,4.116666667,pose2_hold,0.627189968125,0.0100019033321,1.07004097051,0.597761687576,0.0186767324147,1.0696787592
+248,4.133333333,pose2_hold,0.627189968125,0.0100019033321,1.07004097051,0.597761687576,0.0186767324149,1.0696787592
+249,4.150000000,pose2_hold,0.627189968125,0.0100019033321,1.07004097051,0.597761687577,0.0186767324138,1.0696787592
+250,4.166666667,pose2_hold,0.627189968125,0.0100019033321,1.07004097051,0.597761687578,0.0186767324128,1.0696787592
+251,4.183333333,pose2_hold,0.627189968125,0.0100019033321,1.07004097051,0.597761687579,0.0186767324126,1.0696787592
+252,4.200000000,pose2_hold,0.627189968125,0.0100019033321,1.07004097051,0.597761687578,0.018676732413,1.0696787592
+253,4.216666667,pose2_hold,0.627189968125,0.0100019033321,1.07004097051,0.597761687576,0.0186767324163,1.0696787592
+254,4.233333333,pose2_hold,0.627189968125,0.0100019033321,1.07004097051,0.597761687577,0.018676732414,1.06967875919
+255,4.250000000,pose2_hold,0.627189968125,0.0100019033321,1.07004097051,0.597761687578,0.0186767324141,1.0696787592
+256,4.266666667,pose2_hold,0.627189968125,0.0100019033321,1.07004097051,0.597761687578,0.0186767324149,1.0696787592
+257,4.283333333,pose2_hold,0.627189968125,0.0100019033321,1.07004097051,0.597761687577,0.018676732416,1.0696787592
+258,4.300000000,pose2_hold,0.627189968125,0.0100019033321,1.07004097051,0.597761687577,0.0186767324165,1.0696787592
+259,4.316666667,pose2_hold,0.627189968125,0.0100019033321,1.07004097051,0.597761687577,0.0186767324168,1.0696787592
+260,4.333333333,pose2_hold,0.627189968125,0.0100019033321,1.07004097051,0.597761687577,0.0186767324168,1.0696787592
+261,4.350000000,pose2_to_pose3_retreat,0.627189968125,0.0100019033321,1.07004097051,0.597761687577,0.0186767324165,1.0696787592
+262,4.366666667,pose2_to_pose3_retreat,0.627189792799,0.0100017840597,1.07004058366,0.597761510743,0.0186766083608,1.06967838084
+263,4.383333333,pose2_to_pose3_retreat,0.627189632523,0.010001858797,1.07004068714,0.597761350087,0.0186766817891,1.06967848398
+264,4.400000000,pose2_to_pose3_retreat,0.627189490985,0.0100019247969,1.07004077853,0.597761208213,0.0186767466331,1.06967857506
+265,4.416666667,pose2_to_pose3_retreat,0.627189448399,0.0100019446549,1.07004080602,0.597761165526,0.0186767661433,1.06967860246
+266,4.433333333,pose2_to_pose3_retreat,0.627189242564,0.0100019197006,1.07004081386,0.597760959952,0.0186767420632,1.06967861017
+267,4.450000000,pose2_to_pose3_retreat,0.627189228611,0.0100019173975,1.07004081376,0.597760946021,0.0186767398322,1.06967861006
+268,4.466666667,pose2_to_pose3_retreat,0.627188430377,0.010001785634,1.07004080798,0.597760149015,0.0186766121981,1.06967860383
+269,4.483333333,pose2_to_pose3_retreat,0.627185474328,0.0100018422887,1.07004107075,0.597757192895,0.0186766682189,1.06967885769
+270,4.500000000,pose2_to_pose3_retreat,0.627176901949,0.0100018106448,1.07004072336,0.597748621057,0.0186766389695,1.06967852463
+271,4.516666667,pose2_to_pose3_retreat,0.627161375525,0.0100019022706,1.07004084074,0.597733094915,0.0186767311271,1.06967863285
+272,4.533333333,pose2_to_pose3_retreat,0.627134169035,0.0100017639013,1.07004094892,0.597705889737,0.0186765974963,1.06967874265
+273,4.550000000,pose2_to_pose3_retreat,0.627095624703,0.0100018397798,1.07004104337,0.59766734403,0.0186766686542,1.06967883705
+274,4.566666667,pose2_to_pose3_retreat,0.627045854104,0.0100017976261,1.07004108703,0.597617574888,0.0186766312422,1.06967887584
+275,4.583333333,pose2_to_pose3_retreat,0.626987346626,0.0100019052786,1.07004097054,0.597559065383,0.018676732057,1.06967876324
+276,4.600000000,pose2_to_pose3_retreat,0.626921097357,0.0100017852386,1.07004103194,0.597492818282,0.0186766195915,1.06967883156
+277,4.616666667,pose2_to_pose3_retreat,0.626849182337,0.0100017342043,1.07004106478,0.597420902768,0.0186765663069,1.06967884986
+278,4.633333333,pose2_to_pose3_retreat,0.626770945134,0.0100017953863,1.07004066638,0.597342665607,0.0186766284987,1.0696784734
+279,4.650000000,pose2_to_pose3_retreat,0.626682617446,0.0100017122021,1.0700409032,0.59725433913,0.0186765487725,1.06967869568
+280,4.666666667,pose2_to_pose3_retreat,0.626582909117,0.0100017461688,1.07004095324,0.597154630294,0.0186765809361,1.06967874464
+281,4.683333333,pose2_to_pose3_retreat,0.626468994069,0.010001832611,1.07004082827,0.597040713952,0.0186766630349,1.06967862185
+282,4.700000000,pose2_to_pose3_retreat,0.626341390715,0.0100018510103,1.07004073325,0.596913109981,0.0186766793272,1.06967852766
+283,4.716666667,pose2_to_pose3_retreat,0.626199651036,0.010001791954,1.07004081504,0.59677137051,0.0186766209643,1.06967861036
+284,4.733333333,pose2_to_pose3_retreat,0.626041495434,0.0100019493522,1.07004083307,0.596613212755,0.0186767708619,1.06967862545
+285,4.750000000,pose2_to_pose3_retreat,0.625866116508,0.0100019047886,1.07004082921,0.596437834236,0.0186767276533,1.06967862237
+286,4.766666667,pose2_to_pose3_retreat,0.625670775294,0.0100019180383,1.07004066181,0.596242494065,0.0186767451056,1.0696784725
+287,4.783333333,pose2_to_pose3_retreat,0.625454714008,0.0100018906266,1.0700407241,0.596026432541,0.0186767166328,1.06967853029
+288,4.800000000,pose2_to_pose3_retreat,0.625215680388,0.0100019438538,1.07004086837,0.595787397986,0.0186767662593,1.06967866643
+289,4.816666667,pose2_to_pose3_retreat,0.624954854909,0.010001915835,1.07004089924,0.595526573518,0.0186767413752,1.06967869262
+290,4.833333333,pose2_to_pose3_retreat,0.624672303612,0.0100018327629,1.07004091955,0.595244023849,0.0186766635949,1.06967870987
+291,4.850000000,pose2_to_pose3_retreat,0.624364799893,0.0100019487182,1.07004101304,0.594936518615,0.0186767744281,1.06967880637
+292,4.866666667,pose2_to_pose3_retreat,0.624034174709,0.010001908635,1.07004087177,0.594605892853,0.0186767322385,1.06967866393
+293,4.883333333,pose2_to_pose3_retreat,0.623681079826,0.0100018072355,1.07004105338,0.594252800039,0.0186766378174,1.06967884619
+294,4.900000000,pose2_to_pose3_retreat,0.623309982436,0.0100018872124,1.07004078963,0.593881701598,0.0186767145534,1.06967859358
+295,4.916666667,pose2_to_pose3_retreat,0.622921925223,0.0100018998262,1.07004081874,0.59349364556,0.0186767307783,1.0696786161
+296,4.933333333,pose2_to_pose3_retreat,0.622521299536,0.0100017958279,1.07004078742,0.593093019311,0.0186766250196,1.06967859095
+297,4.950000000,pose2_to_pose3_retreat,0.622106517061,0.0100017586603,1.0700407899,0.592678236907,0.018676587891,1.06967859176
+298,4.966666667,pose2_to_pose3_retreat,0.621667604932,0.0100018154522,1.0700407786,0.592239324377,0.0186766429025,1.06967857108
+299,4.983333333,pose2_to_pose3_retreat,0.621202896264,0.0100018651645,1.07004080147,0.591774615291,0.0186766911358,1.06967859122
+300,5.000000000,pose2_to_pose3_retreat,0.620708765399,0.0100018705494,1.07004091132,0.591280484872,0.0186766984625,1.06967871133
+301,5.016666667,pose2_to_pose3_retreat,0.620186469665,0.0100020107101,1.07004090594,0.590758188061,0.0186768348998,1.06967870435
+302,5.033333333,pose2_to_pose3_retreat,0.619636553346,0.01000182565,1.07004083066,0.590208274471,0.018676658856,1.06967862325
+303,5.050000000,pose2_to_pose3_retreat,0.619069823526,0.0100019881985,1.07004092858,0.589641541671,0.0186768114287,1.06967872438
+304,5.066666667,pose2_to_pose3_retreat,0.618484193566,0.0100019209715,1.07004092548,0.589055913398,0.0186767500615,1.0696787246
+305,5.083333333,pose2_to_pose3_retreat,0.617867011614,0.0100017762292,1.07004067035,0.588438733074,0.0186766108047,1.06967846851
+306,5.100000000,pose2_to_pose3_retreat,0.617220622553,0.0100018296692,1.07004065339,0.587792343295,0.0186766617644,1.06967845051
+307,5.116666667,pose2_to_pose3_retreat,0.616544729263,0.0100018671546,1.07004092211,0.587116448858,0.0186766952599,1.06967871579
+308,5.133333333,pose2_to_pose3_retreat,0.615852880591,0.0100018328138,1.07004097261,0.586424599323,0.0186766582661,1.06967877085
+309,5.150000000,pose2_to_pose3_retreat,0.615153882298,0.0100018444525,1.07004099546,0.585725601532,0.0186766714983,1.06967878992
+310,5.166666667,pose2_to_pose3_retreat,0.614461697063,0.0100019036892,1.07004104257,0.585033416033,0.0186767296314,1.06967883194
+311,5.183333333,pose2_to_pose3_retreat,0.613771148005,0.0100019273123,1.0700408941,0.584342865106,0.0186767473011,1.06967869276
+312,5.200000000,pose2_to_pose3_retreat,0.613069429359,0.0100018818605,1.07004079642,0.583641147669,0.0186767059648,1.06967859541
+313,5.216666667,pose2_to_pose3_retreat,0.612344962474,0.0100018556651,1.07004081429,0.582916681211,0.0186766810307,1.06967860881
+314,5.233333333,pose2_to_pose3_retreat,0.61159435505,0.0100018708416,1.07004081951,0.582166074256,0.018676697747,1.06967861272
+315,5.250000000,pose2_to_pose3_retreat,0.610809839737,0.0100019304198,1.07004093566,0.581381558147,0.0186767545144,1.06967872621
+316,5.266666667,pose2_to_pose3_retreat,0.609998528588,0.010001980228,1.07004076113,0.580570247094,0.0186768048574,1.06967855662
+317,5.283333333,pose2_to_pose3_retreat,0.609183716406,0.010002044716,1.07004079644,0.579755433897,0.0186768657936,1.06967858937
+318,5.300000000,pose2_to_pose3_retreat,0.60837039146,0.0100019673091,1.07004083808,0.578942108859,0.0186767880012,1.06967862925
+319,5.316666667,pose2_to_pose3_retreat,0.607564504388,0.0100019257346,1.07004088339,0.578136223101,0.0186767510352,1.06967867809
+320,5.333333333,pose2_to_pose3_retreat,0.606768667588,0.0100019138322,1.07004093509,0.577340387602,0.0186767436545,1.06967873235
+321,5.350000000,pose2_to_pose3_retreat,0.605979619195,0.0100018668512,1.07004084526,0.576551339584,0.0186766978509,1.06967864017
+322,5.366666667,pose2_to_pose3_retreat,0.605183774237,0.0100019172564,1.07004065263,0.575755493858,0.0186767454839,1.06967844355
+323,5.383333333,pose2_to_pose3_retreat,0.604374965719,0.0100020345029,1.07004096513,0.574946682562,0.0186768532555,1.06967875477
+324,5.400000000,pose2_to_pose3_retreat,0.603543830652,0.010001767321,1.07004091129,0.574115549415,0.0186765930684,1.06967871241
+325,5.416666667,pose2_to_pose3_retreat,0.602702432896,0.0100018214446,1.07004071586,0.573274152698,0.018676650528,1.06967851244
+326,5.433333333,pose2_to_pose3_retreat,0.601858206096,0.010001920946,1.07004066985,0.572429924907,0.0186767469083,1.06967847221
+327,5.450000000,pose2_to_pose3_retreat,0.601037578463,0.0100019542739,1.07004086115,0.571609296168,0.018676776312,1.06967865935
+328,5.466666667,pose2_to_pose3_retreat,0.600245714517,0.0100019046259,1.07004090951,0.570817433222,0.0186767301518,1.06967870997
+329,5.483333333,pose2_to_pose3_retreat,0.599473073399,0.0100018295246,1.07004087935,0.570044793104,0.0186766581879,1.06967867369
+330,5.500000000,pose2_to_pose3_retreat,0.598711665864,0.0100018367258,1.07004080622,0.569283385568,0.0186766651586,1.06967859512
+331,5.516666667,pose2_to_pose3_retreat,0.597951561962,0.0100018903439,1.07004072824,0.568523281398,0.0186767181658,1.06967852419
+332,5.533333333,pose2_to_pose3_retreat,0.597178870731,0.0100017483129,1.07004078178,0.567750590862,0.0186765786217,1.06967858087
+333,5.550000000,pose2_to_pose3_retreat,0.596393929308,0.0100016091098,1.07004070599,0.566965651159,0.0186764451311,1.06967850218
+334,5.566666667,pose2_to_pose3_retreat,0.595614610895,0.0100017645394,1.07004094687,0.566186330762,0.018676593636,1.06967873832
+335,5.583333333,pose2_to_pose3_retreat,0.594847790926,0.0100019017043,1.07004072091,0.565419509168,0.0186767254242,1.06967851566
+336,5.600000000,pose2_to_pose3_retreat,0.594110779719,0.0100018935537,1.07004082195,0.564682500458,0.0186767255718,1.06967861249
+337,5.616666667,pose2_to_pose3_retreat,0.593398805886,0.0100017903915,1.07004087709,0.563970527836,0.0186766270116,1.06967867948
+338,5.633333333,pose2_to_pose3_retreat,0.592710872677,0.0100018837885,1.07004101076,0.56328259203,0.0186767113702,1.06967880761
+339,5.650000000,pose2_to_pose3_retreat,0.592038467064,0.0100018559884,1.07004103543,0.562610186997,0.0186766851272,1.06967882253
+340,5.666666667,pose2_to_pose3_retreat,0.591376909513,0.0100017860552,1.07004096879,0.561948631028,0.0186766206268,1.0696787574
+341,5.683333333,pose2_to_pose3_retreat,0.590729035311,0.010001807569,1.0700409397,0.561300756105,0.0186766400329,1.06967873644
+342,5.700000000,pose2_to_pose3_retreat,0.590097111414,0.0100017639371,1.07004087489,0.560668832393,0.0186765970793,1.06967867359
+343,5.716666667,pose2_to_pose3_retreat,0.589488688139,0.01000193607,1.07004070732,0.560060406066,0.0186767586902,1.06967850512
+344,5.733333333,pose2_to_pose3_retreat,0.588907747742,0.0100018438404,1.07004074974,0.55947946848,0.0186766766233,1.06967856207
+345,5.750000000,pose2_to_pose3_retreat,0.588355305677,0.0100017990382,1.07004106909,0.558927025623,0.0186766280416,1.06967885518
+346,5.766666667,pose2_to_pose3_retreat,0.587815972311,0.0100017947885,1.07004087336,0.558387692765,0.0186766258877,1.06967866827
+347,5.783333333,pose2_to_pose3_retreat,0.58728665017,0.0100018769755,1.07004078677,0.557858368921,0.0186767025751,1.0696785883
+348,5.800000000,pose2_to_pose3_retreat,0.586770937631,0.010001885677,1.07004086645,0.557342655568,0.0186767084879,1.06967866736
+349,5.816666667,pose2_to_pose3_retreat,0.586275568629,0.0100018461906,1.07004074929,0.556847287206,0.0186766709513,1.06967854479
+350,5.833333333,pose2_to_pose3_retreat,0.585809907021,0.0100018601674,1.07004069605,0.556381626652,0.0186766883956,1.0696784888
+351,5.850000000,pose2_to_pose3_retreat,0.585377220207,0.0100018520443,1.07004078018,0.555948940555,0.0186766827996,1.06967857482
+352,5.866666667,pose2_to_pose3_retreat,0.584976098882,0.0100017677579,1.07004072669,0.555547819513,0.0186765995454,1.06967852264
+353,5.883333333,pose2_to_pose3_retreat,0.584598740842,0.0100017880826,1.07004080919,0.555170461981,0.0186766215564,1.06967860468
+354,5.900000000,pose2_to_pose3_retreat,0.584239900586,0.0100017993039,1.07004058112,0.554811619699,0.0186766259934,1.06967837862
+355,5.916666667,pose2_to_pose3_retreat,0.583893994874,0.0100019626113,1.07004078398,0.554465712909,0.0186767855137,1.06967857868
+356,5.933333333,pose2_to_pose3_retreat,0.583566054636,0.0100018873149,1.07004090472,0.554137773569,0.018676713349,1.06967870185
+357,5.950000000,pose2_to_pose3_retreat,0.583261303261,0.0100019116443,1.07004076392,0.553833022012,0.0186767371237,1.06967856233
+358,5.966666667,pose2_to_pose3_retreat,0.582977228501,0.0100018030206,1.07004077209,0.553548949087,0.0186766345807,1.06967856691
+359,5.983333333,pose2_to_pose3_retreat,0.582713982563,0.0100018168756,1.07004088985,0.553285703065,0.0186766480504,1.06967868231
+360,6.000000000,pose2_to_pose3_retreat,0.582475583798,0.0100019324556,1.07004090534,0.553047302499,0.0186767575001,1.06967869741
+361,6.016666667,pose2_to_pose3_retreat,0.582258486498,0.0100018650681,1.0700408005,0.552830205801,0.0186766921707,1.06967859283
+362,6.033333333,pose2_to_pose3_retreat,0.582061408068,0.0100016900849,1.07004075189,0.552633129943,0.0186765260388,1.06967854719
+363,6.050000000,pose2_to_pose3_retreat,0.58188385991,0.0100017976573,1.07004108306,0.552455582177,0.0186766347678,1.06967887457
+364,6.066666667,pose2_to_pose3_retreat,0.581726384347,0.0100017783717,1.07004095854,0.552298104905,0.0186766097883,1.06967875247
+365,6.083333333,pose2_to_pose3_retreat,0.581583439564,0.0100017983207,1.07004084054,0.552155160749,0.0186766320115,1.06967863799
+366,6.100000000,pose2_to_pose3_retreat,0.581453827536,0.010001766617,1.07004065877,0.55202554778,0.0186765971679,1.06967845752
+367,6.116666667,pose2_to_pose3_retreat,0.581336769232,0.0100017736622,1.07004071366,0.551908488171,0.0186765994799,1.06967850512
+368,6.133333333,pose2_to_pose3_retreat,0.581231155265,0.0100018349324,1.07004083524,0.551802874467,0.0186766616209,1.06967862705
+369,6.150000000,pose2_to_pose3_retreat,0.581137493533,0.0100018482386,1.07004082781,0.551709213466,0.0186766777994,1.06967862986
+370,6.166666667,pose2_to_pose3_retreat,0.581056405843,0.010001820689,1.0700408959,0.551628124389,0.0186766454032,1.06967869355
+371,6.183333333,pose2_to_pose3_retreat,0.580987981889,0.0100019527865,1.07004080306,0.551559699071,0.0186767730029,1.06967860362
+372,6.200000000,pose2_to_pose3_retreat,0.580931533036,0.0100020841166,1.07004076886,0.551503249839,0.0186769035811,1.06967858217
+373,6.216666667,pose2_to_pose3_retreat,0.580885245692,0.0100019101139,1.07004101121,0.551456965787,0.0186767404262,1.06967881682
+374,6.233333333,pose2_to_pose3_retreat,0.580848529779,0.0100017719716,1.07004085297,0.55142025135,0.0186766066784,1.06967864385
+375,6.250000000,pose2_to_pose3_retreat,0.580819163767,0.010001810812,1.07004089054,0.5513908832,0.0186766385612,1.06967868851
+376,6.266666667,pose2_to_pose3_retreat,0.58079689189,0.0100018168351,1.07004092361,0.551368611688,0.0186766457836,1.06967872058
+377,6.283333333,pose2_to_pose3_retreat,0.580780086204,0.0100018208191,1.07004092644,0.551351806225,0.0186766505381,1.06967872376
+378,6.300000000,pose2_to_pose3_retreat,0.580768213891,0.0100018288037,1.07004091151,0.551339933493,0.0186766572589,1.06967871264
+379,6.316666667,pose2_to_pose3_retreat,0.580759559802,0.0100018273305,1.07004089096,0.551331279073,0.018676654834,1.06967869624
+380,6.333333333,pose2_to_pose3_retreat,0.580753734357,0.0100017963398,1.07004092512,0.551325454397,0.0186766261328,1.06967872275
+381,6.350000000,pose2_to_pose3_retreat,0.58075037669,0.0100018340285,1.07004093553,0.551322096586,0.0186766632358,1.06967873087
+382,6.366666667,pose2_to_pose3_retreat,0.580748232057,0.0100018939194,1.07004093621,0.551319951483,0.0186767215241,1.06967873144
+383,6.383333333,pose2_to_pose3_retreat,0.580746974047,0.0100019174986,1.07004093258,0.551318693223,0.0186767443049,1.06967872893
+384,6.400000000,pose2_to_pose3_retreat,0.58074648153,0.0100019195321,1.07004092866,0.551318200626,0.018676746114,1.06967872617
+385,6.416666667,pose2_to_pose3_retreat,0.580746333848,0.0100019201418,1.07004092749,0.55131805292,0.0186767466565,1.06967872535
+386,6.433333333,pose2_to_pose3_retreat,0.580745980602,0.0100019216003,1.07004092467,0.551317699616,0.018676747954,1.06967872337
+387,6.450000000,pose2_to_pose3_retreat,0.58074565731,0.0100019229351,1.0700409221,0.551317376271,0.0186767491415,1.06967872156
+388,6.466666667,pose2_to_pose3_retreat,0.580745573604,0.0100019232807,1.07004092143,0.551317292552,0.018676749449,1.0696787211
+389,6.483333333,pose2_to_pose3_retreat,0.580745527311,0.0100019234718,1.07004092106,0.551317246251,0.018676749619,1.06967872084
+390,6.500000000,pose2_to_pose3_retreat,0.580745432555,0.010001923863,1.07004092031,0.55131715148,0.0186767499671,1.06967872031
+391,6.516666667,pose2_to_pose3_retreat,0.580745420074,0.0100019239145,1.07004092021,0.551317138996,0.0186767500129,1.06967872024
+392,6.533333333,pose2_to_pose3_retreat,0.580745203153,0.0100019248102,1.07004091848,0.55131692204,0.0186767508097,1.06967871902
+393,6.550000000,pose2_to_pose3_retreat,0.580744800787,0.0100019190325,1.07004089525,0.551316519766,0.0186767453539,1.06967869608
+394,6.566666667,pose2_to_pose3_retreat,0.580744474994,0.0100018950989,1.07004082459,0.551316194453,0.018676722988,1.06967862393
+395,6.583333333,pose2_to_pose3_retreat,0.580744187728,0.0100018739956,1.0700407623,0.551315907611,0.0186767032672,1.06967856031
+396,6.600000000,pose2_to_pose3_retreat,0.580744134821,0.0100018701089,1.07004075082,0.551315854782,0.0186766996351,1.06967854859
+397,6.616666667,pose2_to_pose3_retreat,0.580743855408,0.0100018438482,1.07004075162,0.551315575656,0.0186766742149,1.06967854617
+398,6.633333333,pose2_to_pose3_retreat,0.580743769042,0.0100018287205,1.07004082693,0.551315489227,0.0186766587306,1.06967861812
+399,6.650000000,pose2_to_pose3_retreat,0.580743760921,0.010001827298,1.07004083401,0.5513154811,0.0186766572746,1.06967862489
+400,6.666666667,pose2_to_pose3_retreat,0.580743744051,0.010001824343,1.07004084872,0.551315464216,0.0186766542499,1.06967863894
+401,6.683333333,pose2_to_pose3_retreat,0.580743642368,0.0100018065323,1.07004093739,0.551315362458,0.0186766360193,1.06967872365
+402,6.700000000,pose2_to_pose3_retreat,0.580743568578,0.0100018112217,1.0700409921,0.551315288263,0.0186766391965,1.06967877509
+403,6.716666667,pose2_to_pose3_retreat,0.580743566019,0.0100018134782,1.07004099285,0.551315285649,0.018676641257,1.06967877568
+404,6.733333333,pose2_to_pose3_retreat,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788

Part2/Obstacle_avoidance/ball_0030_15/position_12/depth_02/fem_node.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ff093cef53441cf30bd3ad509f78f1e06b9bcf4af04ccf2c671d9424e44f2fe
+size 25706977

Part2/Obstacle_avoidance/ball_0030_15/position_12/depth_02/simulation_data.csv

@@ -0,0 +1,406 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+1,0.016666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+2,0.033333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+3,0.050000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+4,0.066666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+5,0.083333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+6,0.100000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+7,0.116666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+8,0.133333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+9,0.150000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+10,0.166666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+11,0.183333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+12,0.200000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+13,0.216666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+14,0.233333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+15,0.250000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+16,0.266666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+17,0.283333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+18,0.300000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+19,0.316666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+20,0.333333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+21,0.350000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+22,0.366666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+23,0.383333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+24,0.400000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+25,0.416666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+26,0.433333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+27,0.450000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+28,0.466666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+29,0.483333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+30,0.500000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+31,0.516666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+32,0.533333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+33,0.550000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+34,0.566666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+35,0.583333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+36,0.600000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+37,0.616666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+38,0.633333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+39,0.650000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+40,0.666666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+41,0.683333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+42,0.700000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+43,0.716666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+44,0.733333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+45,0.750000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+46,0.766666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+47,0.783333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+48,0.800000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+49,0.816666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+50,0.833333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+51,0.850000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+52,0.866666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+53,0.883333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+54,0.900000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+55,0.916666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+56,0.933333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+57,0.950000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+58,0.966666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+59,0.983333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+60,1.000000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+61,1.016666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+62,1.033333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+63,1.050000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+64,1.066666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+65,1.083333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+66,1.100000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+67,1.116666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+68,1.133333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+69,1.150000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+70,1.166666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+71,1.183333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+72,1.200000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+73,1.216666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+74,1.233333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+75,1.250000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+76,1.266666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+77,1.283333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+78,1.300000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+79,1.316666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+80,1.333333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+81,1.350000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+82,1.366666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+83,1.383333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+84,1.400000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+85,1.416666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+86,1.433333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+87,1.450000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+88,1.466666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+89,1.483333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+90,1.500000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+91,1.516666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+92,1.533333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+93,1.550000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+94,1.566666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+95,1.583333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+96,1.600000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+97,1.616666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+98,1.633333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+99,1.650000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+100,1.666666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+101,1.683333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+102,1.700000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+103,1.716666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+104,1.733333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+105,1.750000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+106,1.766666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+107,1.783333333,pose1_to_pose2_press,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+108,1.800000000,pose1_to_pose2_press,0.580743649177,0.0100018931642,1.07004090278,0.551315367282,0.0186767162159,1.06967869624
+109,1.816666667,pose1_to_pose2_press,0.580743907256,0.0100018233034,1.07004077546,0.551315627062,0.0186766522743,1.0696785725
+110,1.833333333,pose1_to_pose2_press,0.580743959913,0.0100018090494,1.07004074948,0.551315680066,0.0186766392281,1.06967854725
+111,1.850000000,pose1_to_pose2_press,0.58074405001,0.0100017846607,1.07004070503,0.551315770756,0.0186766169058,1.06967850405
+112,1.866666667,pose1_to_pose2_press,0.580744297438,0.0100017764444,1.07004074669,0.551316017931,0.0186766078031,1.06967854509
+113,1.883333333,pose1_to_pose2_press,0.580744314118,0.0100017766361,1.07004075158,0.55131603457,0.0186766078518,1.06967854988
+114,1.900000000,pose1_to_pose2_press,0.580745146455,0.0100017862031,1.0700409954,0.55131686486,0.0186766102825,1.06967878904
+115,1.916666667,pose1_to_pose2_press,0.580748380925,0.0100019661154,1.07004079353,0.551320098646,0.0186767882632,1.06967859654
+116,1.933333333,pose1_to_pose2_press,0.580756520609,0.0100019028146,1.07004075206,0.55132823927,0.018676727868,1.06967854843
+117,1.950000000,pose1_to_pose2_press,0.580770971034,0.010001710948,1.07004068347,0.551342692494,0.0186765455584,1.06967848105
+118,1.966666667,pose1_to_pose2_press,0.580796044092,0.0100017914689,1.07004096877,0.551367763902,0.0186766202571,1.06967876092
+119,1.983333333,pose1_to_pose2_press,0.580831176051,0.0100017593898,1.07004091186,0.551402895576,0.0186765873349,1.06967870691
+120,2.000000000,pose1_to_pose2_press,0.580876648277,0.0100019099854,1.07004090961,0.551448368052,0.0186767390795,1.06967871182
+121,2.016666667,pose1_to_pose2_press,0.580930890457,0.0100018113107,1.07004096942,0.551502610894,0.0186766420652,1.06967875753
+122,2.033333333,pose1_to_pose2_press,0.580993638781,0.0100018824301,1.07004082501,0.551565357411,0.0186767074529,1.06967862267
+123,2.050000000,pose1_to_pose2_press,0.581064645131,0.0100018461579,1.07004072351,0.551636365092,0.0186766758863,1.06967852559
+124,2.066666667,pose1_to_pose2_press,0.581144461348,0.0100018264778,1.07004107419,0.551716181224,0.0186766557637,1.06967887255
+125,2.083333333,pose1_to_pose2_press,0.581236169536,0.0100019658718,1.0700407968,0.551807888147,0.0186767906899,1.06967859086
+126,2.100000000,pose1_to_pose2_press,0.581340127001,0.0100019460057,1.07004072393,0.551911843558,0.0186767636595,1.06967851325
+127,2.116666667,pose1_to_pose2_press,0.581458404681,0.0100018873595,1.07004072735,0.552030122545,0.0186767095115,1.06967851831
+128,2.133333333,pose1_to_pose2_press,0.581591434404,0.0100018530187,1.07004080496,0.552163154992,0.0186766847907,1.06967860493
+129,2.150000000,pose1_to_pose2_press,0.581740236287,0.0100018661175,1.07004091285,0.552311955847,0.0186766944519,1.06967871388
+130,2.166666667,pose1_to_pose2_press,0.581902126022,0.0100018255404,1.07004085127,0.552473847649,0.0186766605162,1.06967864347
+131,2.183333333,pose1_to_pose2_press,0.582076362854,0.0100019122571,1.07004093246,0.552648083192,0.018676742808,1.06967872338
+132,2.200000000,pose1_to_pose2_press,0.582263838571,0.0100018758597,1.0700409712,0.552835558003,0.0186767032474,1.06967875987
+133,2.216666667,pose1_to_pose2_press,0.582466297081,0.0100018193102,1.07004090362,0.553038016942,0.018676648206,1.06967869353
+134,2.233333333,pose1_to_pose2_press,0.582688068754,0.0100018409571,1.07004092849,0.553259789216,0.0186766720392,1.0696787218
+135,2.250000000,pose1_to_pose2_press,0.582933681219,0.010001874661,1.07004102778,0.553505401257,0.0186767043438,1.06967882201
+136,2.266666667,pose1_to_pose2_press,0.5832047247,0.0100017967982,1.07004094902,0.55377644397,0.0186766237988,1.06967874134
+137,2.283333333,pose1_to_pose2_press,0.583499047474,0.0100017785441,1.07004094069,0.554070767055,0.0186766065233,1.06967873122
+138,2.300000000,pose1_to_pose2_press,0.583814208497,0.0100019592091,1.0700408854,0.554385927696,0.0186767857769,1.0696786731
+139,2.316666667,pose1_to_pose2_press,0.584151235751,0.0100018354274,1.07004106371,0.554722956083,0.0186766659202,1.06967885326
+140,2.333333333,pose1_to_pose2_press,0.584506582944,0.0100019024306,1.07004068803,0.555078301769,0.0186767281301,1.06967848525
+141,2.350000000,pose1_to_pose2_press,0.584880094225,0.0100018081771,1.07004088257,0.555451814199,0.0186766380608,1.06967868658
+142,2.366666667,pose1_to_pose2_press,0.585275146039,0.0100020043674,1.07004070348,0.555846864646,0.0186768296104,1.06967850736
+143,2.383333333,pose1_to_pose2_press,0.58569070707,0.0100018528493,1.0700408782,0.556262427808,0.0186766849934,1.06967867412
+144,2.400000000,pose1_to_pose2_press,0.586123132814,0.010001896419,1.07004092289,0.556694852467,0.0186767250293,1.06967872232
+145,2.416666667,pose1_to_pose2_press,0.586574015809,0.0100019342523,1.0700410308,0.557145734416,0.018676758956,1.06967882159
+146,2.433333333,pose1_to_pose2_press,0.587047591022,0.0100018849509,1.07004098462,0.557619310915,0.0186767138137,1.06967877051
+147,2.450000000,pose1_to_pose2_press,0.587548026237,0.01000189703,1.07004082861,0.5581197468,0.0186767284563,1.06967862143
+148,2.466666667,pose1_to_pose2_press,0.588079141993,0.0100019540528,1.07004081544,0.558650861418,0.0186767817613,1.06967861166
+149,2.483333333,pose1_to_pose2_press,0.588641546663,0.0100019310228,1.0700409045,0.559213266099,0.0186767586363,1.06967869746
+150,2.500000000,pose1_to_pose2_press,0.589229859829,0.010001932311,1.07004105756,0.559801579269,0.0186767597436,1.06967884594
+151,2.516666667,pose1_to_pose2_press,0.58983013501,0.0100018474393,1.07004097808,0.560401854565,0.0186766751967,1.06967876478
+152,2.533333333,pose1_to_pose2_press,0.590437240837,0.0100017595084,1.07004099652,0.561008961749,0.0186765918827,1.06967878354
+153,2.550000000,pose1_to_pose2_press,0.591050822589,0.0100018293646,1.07004101276,0.561622543374,0.0186766619361,1.06967881479
+154,2.566666667,pose1_to_pose2_press,0.591677496127,0.0100017720071,1.07004072354,0.562249215607,0.0186765996762,1.06967851413
+155,2.583333333,pose1_to_pose2_press,0.592322007179,0.0100016983141,1.07004093343,0.562893729429,0.0186765353992,1.06967872444
+156,2.600000000,pose1_to_pose2_press,0.592993551328,0.0100019298988,1.07004097435,0.563565269722,0.0186767536648,1.06967875974
+157,2.616666667,pose1_to_pose2_press,0.593686687774,0.010001871952,1.07004097133,0.56425840759,0.018676700579,1.06967875756
+158,2.633333333,pose1_to_pose2_press,0.594395480093,0.0100018002827,1.07004084388,0.564967199932,0.0186766294832,1.069678642
+159,2.650000000,pose1_to_pose2_press,0.595119039507,0.0100017813466,1.07004085297,0.565690759695,0.01867661196,1.06967865652
+160,2.666666667,pose1_to_pose2_press,0.595860826517,0.0100018493674,1.07004093668,0.566432545758,0.01867667641,1.06967873171
+161,2.683333333,pose1_to_pose2_press,0.59661158436,0.0100018867405,1.07004083737,0.567183302325,0.0186767092958,1.06967862852
+162,2.700000000,pose1_to_pose2_press,0.597371053097,0.0100018921663,1.07004075057,0.567942770689,0.0186767136179,1.06967854558
+163,2.716666667,pose1_to_pose2_press,0.598145567405,0.0100019453119,1.07004081717,0.56871728503,0.0186767668935,1.06967861262
+164,2.733333333,pose1_to_pose2_press,0.598927531591,0.010001968898,1.07004089509,0.569499249708,0.0186767920549,1.06967868845
+165,2.750000000,pose1_to_pose2_press,0.599713604766,0.0100019568105,1.07004100988,0.570285322492,0.0186767785719,1.06967880158
+166,2.766666667,pose1_to_pose2_press,0.60050186737,0.0100019991044,1.07004081687,0.571073584556,0.0186768191665,1.06967861172
+167,2.783333333,pose1_to_pose2_press,0.601288460963,0.0100019246572,1.07004079498,0.571860181216,0.0186767553672,1.06967859564
+168,2.800000000,pose1_to_pose2_press,0.602077583597,0.0100018475195,1.07004081914,0.572649303587,0.0186766772205,1.06967861704
+169,2.816666667,pose1_to_pose2_press,0.60286782154,0.0100016385762,1.07004103064,0.573439543309,0.0186764742372,1.06967882683
+170,2.833333333,pose1_to_pose2_press,0.603658694261,0.0100018404665,1.07004084059,0.574230414374,0.0186766706322,1.06967863971
+171,2.850000000,pose1_to_pose2_press,0.604458327654,0.0100017935623,1.07004062617,0.575030048333,0.0186766256602,1.06967842569
+172,2.866666667,pose1_to_pose2_press,0.605269861039,0.0100019080306,1.07004071633,0.575841579937,0.0186767341975,1.06967851854
+173,2.883333333,pose1_to_pose2_press,0.606088932013,0.0100019011868,1.07004088985,0.576660649868,0.0186767236192,1.06967868737
+174,2.900000000,pose1_to_pose2_press,0.606914718003,0.010001825688,1.07004092524,0.577486437868,0.0186766550144,1.06967872465
+175,2.916666667,pose1_to_pose2_press,0.607733452959,0.0100018202998,1.07004079133,0.57830517304,0.018676650386,1.06967859135
+176,2.933333333,pose1_to_pose2_press,0.608541218153,0.0100018827044,1.070040815,0.57911293697,0.018676708265,1.06967860947
+177,2.950000000,pose1_to_pose2_press,0.609329877758,0.0100019167779,1.07004080262,0.579901595887,0.0186767399491,1.06967859581
+178,2.966666667,pose1_to_pose2_press,0.610103485492,0.0100019081271,1.07004071642,0.580675203073,0.0186767296319,1.06967851428
+179,2.983333333,pose1_to_pose2_press,0.610866633693,0.0100019740814,1.07004099929,0.581438351367,0.0186767960915,1.06967880178
+180,3.000000000,pose1_to_pose2_press,0.611623988549,0.0100020249428,1.07004089992,0.582195704815,0.0186768420143,1.06967869858
+181,3.016666667,pose1_to_pose2_press,0.612379616279,0.0100019536195,1.07004084038,0.582951334145,0.0186767757181,1.06967862947
+182,3.033333333,pose1_to_pose2_press,0.613139653968,0.0100019360888,1.07004071002,0.583711371908,0.0186767586815,1.06967850505
+183,3.050000000,pose1_to_pose2_press,0.613893682247,0.0100017273424,1.0700408475,0.584465402542,0.0186765576849,1.0696786368
+184,3.066666667,pose1_to_pose2_press,0.614634556665,0.0100019611937,1.07004094212,0.585206276287,0.0186767894126,1.06967873535
+185,3.083333333,pose1_to_pose2_press,0.615349873512,0.0100018925284,1.07004089063,0.585921592725,0.0186767189407,1.06967867384
+186,3.100000000,pose1_to_pose2_press,0.616034413705,0.010001765908,1.07004089718,0.586606134562,0.0186765986464,1.06967869835
+187,3.116666667,pose1_to_pose2_press,0.616688278296,0.0100017520465,1.07004075531,0.587260000155,0.0186765880783,1.06967855409
+188,3.133333333,pose1_to_pose2_press,0.617319153684,0.0100019031174,1.07004081164,0.587890873687,0.0186767330822,1.06967861604
+189,3.150000000,pose1_to_pose2_press,0.617944956732,0.0100019395778,1.07004089762,0.588516675459,0.0186767652647,1.0696787032
+190,3.166666667,pose1_to_pose2_press,0.618573270155,0.0100018408101,1.07004074774,0.589144988837,0.0186766661466,1.06967854891
+191,3.183333333,pose1_to_pose2_press,0.619202640648,0.0100018547799,1.07004070015,0.589774359148,0.018676679576,1.06967850341
+192,3.200000000,pose1_to_pose2_press,0.619821461073,0.0100018916944,1.07004084743,0.590393179978,0.0186767179331,1.06967865193
+193,3.216666667,pose1_to_pose2_press,0.620419363424,0.0100018425088,1.07004091505,0.590991082528,0.0186766689991,1.06967870914
+194,3.233333333,pose1_to_pose2_press,0.620971622618,0.0100018386335,1.07004108777,0.591543341864,0.0186766652778,1.06967887415
+195,3.250000000,pose1_to_pose2_press,0.62148868051,0.0100017747597,1.07004097154,0.592060401147,0.0186766063717,1.06967876398
+196,3.266666667,pose1_to_pose2_press,0.621977831924,0.0100018097697,1.07004073497,0.59254955195,0.0186766395675,1.0696785331
+197,3.283333333,pose1_to_pose2_press,0.622445765693,0.0100018501611,1.0700409653,0.593017485313,0.01867667829,1.06967875521
+198,3.300000000,pose1_to_pose2_press,0.622892499007,0.010002026318,1.07004098924,0.593464217481,0.0186768503787,1.06967877383
+199,3.316666667,pose1_to_pose2_press,0.623315048208,0.0100019493154,1.0700408881,0.593886766027,0.0186767712548,1.06967867134
+200,3.333333333,pose1_to_pose2_press,0.623713149669,0.0100018630886,1.07004111577,0.594284869486,0.0186766923726,1.06967890783
+201,3.350000000,pose1_to_pose2_press,0.624087012589,0.0100018046231,1.07004101068,0.594658733733,0.018676638613,1.0696788056
+202,3.366666667,pose1_to_pose2_press,0.624444225613,0.0100017967073,1.07004099234,0.595015947021,0.0186766318416,1.06967879056
+203,3.383333333,pose1_to_pose2_press,0.624788137389,0.0100018530249,1.07004097431,0.595359858335,0.0186766868859,1.06967877696
+204,3.400000000,pose1_to_pose2_press,0.625122878093,0.0100019719191,1.07004090653,0.595694596769,0.0186767981945,1.0696787098
+205,3.416666667,pose1_to_pose2_press,0.625446784589,0.0100019939208,1.07004089014,0.596018501268,0.0186768132538,1.06967868682
+206,3.433333333,pose1_to_pose2_press,0.625750792887,0.0100018553109,1.07004086332,0.596322511629,0.0186766817153,1.06967865929
+207,3.450000000,pose1_to_pose2_press,0.626032299673,0.0100017992134,1.07004090773,0.596604020123,0.0186766318479,1.0696787114
+208,3.466666667,pose1_to_pose2_press,0.626286201435,0.0100017423744,1.07004093616,0.596857922586,0.0186765771176,1.06967873098
+209,3.483333333,pose1_to_pose2_press,0.626515342907,0.0100018344892,1.07004089652,0.597087063481,0.0186766674154,1.06967869247
+210,3.500000000,pose1_to_pose2_press,0.626719573262,0.0100019439835,1.07004073592,0.597291290838,0.0186767664898,1.06967852398
+211,3.516666667,pose1_to_pose2_press,0.626903491219,0.0100019127503,1.07004071573,0.597475209487,0.018676737905,1.06967850951
+212,3.533333333,pose1_to_pose2_press,0.62706880709,0.0100019345352,1.07004098988,0.59764052419,0.0186767559225,1.06967878689
+213,3.550000000,pose1_to_pose2_press,0.627217704083,0.010002021913,1.07004095772,0.597789421099,0.0186768431241,1.06967875596
+214,3.566666667,pose1_to_pose2_press,0.627353099291,0.0100019704512,1.07004100884,0.597924817508,0.0186767956781,1.06967880436
+215,3.583333333,pose1_to_pose2_press,0.627475961154,0.0100019151017,1.07004090438,0.598047679471,0.0186767407118,1.0696786997
+216,3.600000000,pose1_to_pose2_press,0.627588461133,0.0100019351405,1.07004076976,0.598160179232,0.0186767601444,1.06967856724
+217,3.616666667,pose1_to_pose2_press,0.627690773431,0.010001946287,1.07004094076,0.598262492772,0.0186767754522,1.06967873594
+218,3.633333333,pose1_to_pose2_press,0.627781023322,0.0100018972019,1.07004094123,0.598352742316,0.018676725002,1.06967873201
+219,3.650000000,pose1_to_pose2_press,0.627859875951,0.0100017361772,1.07004085867,0.598431597351,0.0186765719719,1.06967864892
+220,3.666666667,pose1_to_pose2_press,0.627927216875,0.0100019376006,1.07004095137,0.598498936166,0.0186767667766,1.06967874479
+221,3.683333333,pose1_to_pose2_press,0.627983858668,0.0100018082517,1.07004083969,0.598555577198,0.0186766346235,1.06967863137
+222,3.700000000,pose1_to_pose2_press,0.628029244037,0.0100017883239,1.07004094393,0.598600964362,0.0186766207941,1.06967873353
+223,3.716666667,pose1_to_pose2_press,0.628067443053,0.0100018503872,1.07004083169,0.598639162626,0.0186766807115,1.06967863285
+224,3.733333333,pose1_to_pose2_press,0.628099233376,0.0100018926013,1.07004080123,0.598670952725,0.0186767221249,1.06967860034
+225,3.750000000,pose1_to_pose2_press,0.6281247018,0.0100017586748,1.07004097414,0.598696422624,0.0186765927107,1.06967876241
+226,3.766666667,pose1_to_pose2_press,0.628144557639,0.0100017717445,1.07004103654,0.598716277593,0.0186766027386,1.06967882436
+227,3.783333333,pose1_to_pose2_press,0.628159351456,0.0100019020852,1.07004094839,0.598731069776,0.0186767278048,1.06967874236
+228,3.800000000,pose1_to_pose2_press,0.628169967229,0.010001825448,1.07004095496,0.59874168704,0.0186766562148,1.06967874771
+229,3.816666667,pose1_to_pose2_press,0.628176731929,0.0100018212157,1.07004094847,0.598748451067,0.0186766497426,1.06967874086
+230,3.833333333,pose1_to_pose2_press,0.628180987111,0.0100017784899,1.07004087242,0.598752707135,0.0186766100714,1.06967866568
+231,3.850000000,pose1_to_pose2_press,0.628183567456,0.0100017612292,1.07004081482,0.598755287957,0.0186765944645,1.06967860893
+232,3.866666667,pose1_to_pose2_press,0.628185549708,0.0100018936471,1.07004074034,0.5987572682,0.0186767201872,1.06967853713
+233,3.883333333,pose1_to_pose2_press,0.628187084799,0.0100019766022,1.0700407078,0.598758801915,0.018676798542,1.06967850609
+234,3.900000000,pose1_to_pose2_press,0.62818805503,0.0100019031236,1.07004084874,0.598759772429,0.0186767259133,1.06967864437
+235,3.916666667,pose1_to_pose2_press,0.628188662564,0.0100018571133,1.07004093699,0.59876038014,0.0186766804351,1.06967873096
+236,3.933333333,pose1_to_pose2_press,0.628188819737,0.0100018575223,1.07004094358,0.598760537316,0.0186766808418,1.06967873731
+237,3.950000000,pose1_to_pose2_press,0.628188949273,0.0100018769409,1.07004092384,0.598760666786,0.0186767000419,1.06967871766
+238,3.966666667,pose1_to_pose2_press,0.628189024054,0.0100018881513,1.07004091244,0.598760741529,0.018676711126,1.06967870632
+239,3.983333333,pose1_to_pose2_press,0.628189159335,0.0100019084314,1.07004089182,0.598760876742,0.0186767311777,1.0696786858
+240,4.000000000,pose1_to_pose2_press,0.628189207305,0.0100019156225,1.07004088451,0.598760924687,0.0186767382879,1.06967867852
+241,4.016666667,pose1_to_pose2_press,0.628189598337,0.0100019742421,1.07004082492,0.598761315522,0.0186767962475,1.06967861922
+242,4.033333333,pose1_to_pose2_press,0.628189779463,0.0100019176989,1.07004074912,0.598761497333,0.0186767420325,1.06967854335
+243,4.050000000,pose1_to_pose2_press,0.628189864991,0.0100018906361,1.07004071312,0.598761583188,0.0186767160806,1.06967850732
+244,4.066666667,pose1_to_pose2_press,0.628189957592,0.010001881895,1.07004070208,0.598761674698,0.0186767036378,1.06967849611
+245,4.083333333,pose2_hold,0.628189957592,0.010001881895,1.07004070208,0.598761674698,0.0186767036386,1.06967849611
+246,4.100000000,pose2_hold,0.628189957592,0.010001881895,1.07004070208,0.598761674699,0.018676703639,1.06967849611
+247,4.116666667,pose2_hold,0.628189957592,0.010001881895,1.07004070208,0.598761674699,0.0186767036393,1.06967849611
+248,4.133333333,pose2_hold,0.628189957592,0.010001881895,1.07004070208,0.598761674699,0.0186767036394,1.06967849611
+249,4.150000000,pose2_hold,0.628189957592,0.010001881895,1.07004070208,0.598761674699,0.0186767036394,1.06967849611
+250,4.166666667,pose2_hold,0.628189957592,0.010001881895,1.07004070208,0.5987616747,0.0186767036372,1.06967849611
+251,4.183333333,pose2_hold,0.628189957592,0.010001881895,1.07004070208,0.598761674698,0.0186767036389,1.06967849611
+252,4.200000000,pose2_hold,0.628189957592,0.010001881895,1.07004070208,0.5987616747,0.0186767036352,1.06967849611
+253,4.216666667,pose2_hold,0.628189957592,0.010001881895,1.07004070208,0.598761674699,0.0186767036372,1.06967849611
+254,4.233333333,pose2_hold,0.628189957592,0.010001881895,1.07004070208,0.5987616747,0.0186767036356,1.06967849611
+255,4.250000000,pose2_hold,0.628189957592,0.010001881895,1.07004070208,0.598761674698,0.0186767036392,1.06967849611
+256,4.266666667,pose2_hold,0.628189957592,0.010001881895,1.07004070208,0.598761674698,0.0186767036393,1.06967849611
+257,4.283333333,pose2_hold,0.628189957592,0.010001881895,1.07004070208,0.5987616747,0.0186767036372,1.06967849611
+258,4.300000000,pose2_hold,0.628189957592,0.010001881895,1.07004070208,0.598761674701,0.0186767036366,1.06967849611
+259,4.316666667,pose2_hold,0.628189957592,0.010001881895,1.07004070208,0.5987616747,0.018676703638,1.06967849611
+260,4.333333333,pose2_hold,0.628189957592,0.010001881895,1.07004070208,0.5987616747,0.0186767036379,1.06967849611
+261,4.350000000,pose2_hold,0.628189957592,0.010001881895,1.07004070208,0.5987616747,0.0186767036378,1.06967849611
+262,4.366666667,pose2_hold,0.628189957592,0.010001881895,1.07004070208,0.5987616747,0.0186767036378,1.06967849611
+263,4.383333333,pose2_to_pose3_retreat,0.628189957592,0.010001881895,1.07004070208,0.598761674701,0.0186767036338,1.06967849611
+264,4.400000000,pose2_to_pose3_retreat,0.628189767044,0.0100018901036,1.0700407009,0.598761486373,0.0186767194967,1.06967849797
+265,4.416666667,pose2_to_pose3_retreat,0.62818947235,0.0100019839561,1.07004068455,0.598761189131,0.0186768048342,1.06967848476
+266,4.433333333,pose2_to_pose3_retreat,0.628189022127,0.010001959171,1.07004079975,0.598760739095,0.0186767805118,1.06967859581
+267,4.450000000,pose2_to_pose3_retreat,0.628188665275,0.0100019395259,1.07004089106,0.598760382391,0.0186767612335,1.06967868383
+268,4.466666667,pose2_to_pose3_retreat,0.628188548635,0.0100019331048,1.0700409209,0.5987602658,0.0186767549322,1.0696787126
+269,4.483333333,pose2_to_pose3_retreat,0.628187634104,0.0100018805211,1.07004094704,0.598759352425,0.0186767063154,1.06967874019
+270,4.500000000,pose2_to_pose3_retreat,0.628184694981,0.0100018105803,1.07004085106,0.598756415537,0.0186766442224,1.06967865101
+271,4.516666667,pose2_to_pose3_retreat,0.628177695646,0.0100018234073,1.07004080022,0.598749416087,0.0186766566086,1.06967859885
+272,4.533333333,pose2_to_pose3_retreat,0.628163179916,0.0100018408254,1.07004102983,0.598734900066,0.0186766729868,1.06967882957
+273,4.550000000,pose2_to_pose3_retreat,0.628139246615,0.0100018660029,1.07004090213,0.59871096575,0.0186766948461,1.06967869962
+274,4.566666667,pose2_to_pose3_retreat,0.628103506083,0.0100017050783,1.07004072211,0.598675227797,0.0186765427823,1.06967852294
+275,4.583333333,pose2_to_pose3_retreat,0.628056545611,0.0100017640368,1.07004080623,0.598628265692,0.0186765956882,1.06967860078
+276,4.600000000,pose2_to_pose3_retreat,0.628000051342,0.010001880375,1.07004079394,0.598571769797,0.0186767069228,1.06967859598
+277,4.616666667,pose2_to_pose3_retreat,0.627936870645,0.0100020448267,1.07004080664,0.598508587713,0.0186768663121,1.06967860529
+278,4.633333333,pose2_to_pose3_retreat,0.6278678916,0.0100019089983,1.07004092694,0.598439610063,0.0186767350833,1.06967872203
+279,4.650000000,pose2_to_pose3_retreat,0.627792041291,0.010001917327,1.07004089915,0.598363760021,0.018676744771,1.06967870323
+280,4.666666667,pose2_to_pose3_retreat,0.627708506096,0.0100019729332,1.07004079809,0.598280223958,0.018676796989,1.06967859173
+281,4.683333333,pose2_to_pose3_retreat,0.627612190385,0.0100019370361,1.07004077194,0.598183909137,0.0186767639958,1.06967856382
+282,4.700000000,pose2_to_pose3_retreat,0.627502102784,0.0100018570314,1.07004081234,0.598073822746,0.0186766882931,1.0696786101
+283,4.716666667,pose2_to_pose3_retreat,0.627375150105,0.0100018689676,1.0700408174,0.597946868831,0.0186766959048,1.06967861344
+284,4.733333333,pose2_to_pose3_retreat,0.627232779157,0.0100019211568,1.07004079785,0.59780449741,0.0186767466363,1.0696785986
+285,4.750000000,pose2_to_pose3_retreat,0.627074581498,0.0100018578898,1.07004083022,0.597646300681,0.0186766861019,1.06967862217
+286,4.766666667,pose2_to_pose3_retreat,0.626901766223,0.0100019439394,1.07004109499,0.597473484859,0.0186767704816,1.06967889316
+287,4.783333333,pose2_to_pose3_retreat,0.626714057868,0.0100019314036,1.07004104488,0.597285776205,0.0186767565039,1.06967883478
+288,4.800000000,pose2_to_pose3_retreat,0.62650766503,0.0100019043447,1.07004092495,0.597079383312,0.0186767289058,1.06967870828
+289,4.816666667,pose2_to_pose3_retreat,0.626281925464,0.0100018916845,1.07004084199,0.596853644313,0.0186767183218,1.069678631
+290,4.833333333,pose2_to_pose3_retreat,0.626034180531,0.010001894469,1.07004084952,0.596605900179,0.0186767242725,1.06967865163
+291,4.850000000,pose2_to_pose3_retreat,0.62576249089,0.0100019011011,1.07004099574,0.596334210351,0.0186767303398,1.06967880194
+292,4.866666667,pose2_to_pose3_retreat,0.625465907455,0.0100017540765,1.0700409204,0.596037627509,0.0186765848721,1.06967871839
+293,4.883333333,pose2_to_pose3_retreat,0.625145362751,0.0100017665681,1.07004079814,0.595717082641,0.0186765967892,1.06967859866
+294,4.900000000,pose2_to_pose3_retreat,0.624800105915,0.0100017483644,1.07004079943,0.595371825386,0.0186765770318,1.06967859929
+295,4.916666667,pose2_to_pose3_retreat,0.624427766924,0.0100017930841,1.07004080635,0.594999486802,0.0186766229254,1.06967860446
+296,4.933333333,pose2_to_pose3_retreat,0.624034912368,0.0100017666309,1.07004086042,0.59460663226,0.0186765966137,1.06967866402
+297,4.950000000,pose2_to_pose3_retreat,0.623624974832,0.0100018784542,1.07004075436,0.594196692784,0.0186767016924,1.06967855651
+298,4.966666667,pose2_to_pose3_retreat,0.623199648828,0.0100019689907,1.07004086466,0.593771366503,0.0186767910939,1.06967866496
+299,4.983333333,pose2_to_pose3_retreat,0.622760450884,0.0100019378769,1.07004100548,0.593332170486,0.0186767661985,1.06967880173
+300,5.000000000,pose2_to_pose3_retreat,0.622304579698,0.0100018645084,1.07004085719,0.592876300429,0.0186766963298,1.06967864834
+301,5.016666667,pose2_to_pose3_retreat,0.621826739752,0.0100018577859,1.07004060404,0.592398458787,0.0186766840689,1.06967840036
+302,5.033333333,pose2_to_pose3_retreat,0.621317657344,0.0100018651093,1.07004080088,0.591889376858,0.0186766931759,1.06967860123
+303,5.050000000,pose2_to_pose3_retreat,0.620780575949,0.0100018636252,1.07004078098,0.591352295149,0.0186766907459,1.06967858418
+304,5.066666667,pose2_to_pose3_retreat,0.620216697517,0.0100018835802,1.07004082399,0.590788416692,0.0186767102206,1.06967861775
+305,5.083333333,pose2_to_pose3_retreat,0.619630362423,0.0100017915563,1.07004083877,0.590202082503,0.0186766211264,1.06967862914
+306,5.100000000,pose2_to_pose3_retreat,0.619022900571,0.0100019110912,1.07004091537,0.589594620259,0.0186767393218,1.06967870548
+307,5.116666667,pose2_to_pose3_retreat,0.618390565476,0.0100019132954,1.07004081276,0.588962284952,0.0186767409148,1.06967860545
+308,5.133333333,pose2_to_pose3_retreat,0.617729904047,0.0100018632793,1.07004096439,0.588301623821,0.0186766916815,1.06967875164
+309,5.150000000,pose2_to_pose3_retreat,0.617035460022,0.010001902299,1.07004104145,0.587607179449,0.0186767296812,1.06967883235
+310,5.166666667,pose2_to_pose3_retreat,0.61632521572,0.010001929057,1.07004082962,0.58689693463,0.0186767552128,1.06967863236
+311,5.183333333,pose2_to_pose3_retreat,0.615606973032,0.0100019040116,1.07004091481,0.586178692798,0.0186767327131,1.06967870696
+312,5.200000000,pose2_to_pose3_retreat,0.61489132613,0.0100018827242,1.07004083331,0.585463046398,0.0186767129316,1.06967861941
+313,5.216666667,pose2_to_pose3_retreat,0.614178465181,0.0100020052268,1.07004067476,0.584750182199,0.0186768252696,1.06967848121
+314,5.233333333,pose2_to_pose3_retreat,0.613463074224,0.0100019144192,1.07004092344,0.584034794362,0.0186767446754,1.069678721
+315,5.250000000,pose2_to_pose3_retreat,0.612727065621,0.0100018981717,1.07004078377,0.58329878598,0.0186767287109,1.06967857018
+316,5.266666667,pose2_to_pose3_retreat,0.611961663896,0.0100017921756,1.07004070195,0.582533384777,0.018676624849,1.06967849701
+317,5.283333333,pose2_to_pose3_retreat,0.611157369058,0.0100018811643,1.0700408253,0.581729089174,0.018676711545,1.0696786276
+318,5.300000000,pose2_to_pose3_retreat,0.610319840588,0.0100019351284,1.07004091009,0.580891559454,0.0186767612048,1.06967871079
+319,5.316666667,pose2_to_pose3_retreat,0.609480335173,0.0100018302273,1.07004099708,0.580052055681,0.0186766617235,1.06967879414
+320,5.333333333,pose2_to_pose3_retreat,0.608646342151,0.0100017809718,1.07004100256,0.579218063436,0.0186766149702,1.06967879642
+321,5.350000000,pose2_to_pose3_retreat,0.607825761531,0.0100018253624,1.07004104839,0.57839748167,0.0186766553944,1.06967884044
+322,5.366666667,pose2_to_pose3_retreat,0.607020129371,0.0100018728727,1.0700410828,0.577591848436,0.0186766992613,1.06967887468
+323,5.383333333,pose2_to_pose3_retreat,0.606224220949,0.0100018851941,1.07004081582,0.576795939586,0.018676710153,1.06967860825
+324,5.400000000,pose2_to_pose3_retreat,0.605411991224,0.0100017400182,1.0700406882,0.575983713658,0.0186765781231,1.06967848692
+325,5.416666667,pose2_to_pose3_retreat,0.604581588149,0.0100018735594,1.07004066047,0.575153306327,0.0186766974778,1.06967846521
+326,5.433333333,pose2_to_pose3_retreat,0.603731148187,0.0100019155858,1.07004090688,0.574302868481,0.0186767463281,1.06967870312
+327,5.450000000,pose2_to_pose3_retreat,0.602874394413,0.0100018269677,1.07004105627,0.573446114527,0.0186766569254,1.06967884827
+328,5.466666667,pose2_to_pose3_retreat,0.602019462272,0.0100018716242,1.07004108255,0.572591181183,0.0186766974359,1.06967887294
+329,5.483333333,pose2_to_pose3_retreat,0.601190198678,0.0100019274609,1.07004082664,0.571761916558,0.0186767498258,1.06967861834
+330,5.500000000,pose2_to_pose3_retreat,0.600389732246,0.0100019160232,1.0700407544,0.570961450036,0.0186767383331,1.06967855197
+331,5.516666667,pose2_to_pose3_retreat,0.599604203578,0.0100018631312,1.07004084862,0.570175923607,0.0186766931407,1.06967864875
+332,5.533333333,pose2_to_pose3_retreat,0.598828383544,0.0100018234243,1.0700408979,0.569400105381,0.0186766593447,1.06967869263
+333,5.550000000,pose2_to_pose3_retreat,0.598054609296,0.0100018627111,1.07004089075,0.568626328767,0.0186766903313,1.06967867899
+334,5.566666667,pose2_to_pose3_retreat,0.59727180822,0.0100019882292,1.07004103677,0.567843524708,0.0186768059813,1.06967883096
+335,5.583333333,pose2_to_pose3_retreat,0.596480683357,0.0100017241761,1.0700408326,0.567052405363,0.0186765606198,1.06967862609
+336,5.600000000,pose2_to_pose3_retreat,0.59569465743,0.0100018795821,1.0700409642,0.566266376615,0.0186767062391,1.06967875251
+337,5.616666667,pose2_to_pose3_retreat,0.59491787237,0.0100018917087,1.07004076976,0.565489592304,0.0186767217366,1.06967857792
+338,5.633333333,pose2_to_pose3_retreat,0.594170309266,0.010001773568,1.07004100487,0.564742031496,0.0186766108908,1.06967880118
+339,5.650000000,pose2_to_pose3_retreat,0.593449654015,0.0100019415888,1.07004095742,0.56402137285,0.0186767674745,1.06967875564
+340,5.666666667,pose2_to_pose3_retreat,0.592756097577,0.0100018698717,1.0700408671,0.563327816975,0.0186766975054,1.06967866144
+341,5.683333333,pose2_to_pose3_retreat,0.592080284375,0.0100018141496,1.07004075189,0.5626520041,0.0186766429471,1.06967854744
+342,5.700000000,pose2_to_pose3_retreat,0.591417328114,0.0100019256944,1.07004078017,0.561989046786,0.0186767510558,1.06967857905
+343,5.716666667,pose2_to_pose3_retreat,0.590766855055,0.0100019985137,1.0700409422,0.561338574004,0.0186768245884,1.06967873698
+344,5.733333333,pose2_to_pose3_retreat,0.59012962747,0.0100018723976,1.07004094377,0.560701347746,0.0186767025796,1.06967873181
+345,5.750000000,pose2_to_pose3_retreat,0.589512086718,0.0100017902605,1.0700408281,0.560083806535,0.0186766188984,1.06967861599
+346,5.766666667,pose2_to_pose3_retreat,0.588923008546,0.010001796366,1.07004069182,0.559494727971,0.0186766241198,1.06967849031
+347,5.783333333,pose2_to_pose3_retreat,0.588365717473,0.0100019269925,1.07004085216,0.558937437657,0.0186767577674,1.06967866134
+348,5.800000000,pose2_to_pose3_retreat,0.587820469817,0.0100018481847,1.0700407007,0.558392190551,0.0186766806349,1.06967850523
+349,5.816666667,pose2_to_pose3_retreat,0.587284320429,0.0100018492103,1.07004077635,0.557856040589,0.0186766794305,1.06967857407
+350,5.833333333,pose2_to_pose3_retreat,0.586765788809,0.0100019156874,1.07004078659,0.557337507353,0.0186767406242,1.06967858901
+351,5.850000000,pose2_to_pose3_retreat,0.586269393474,0.0100019274353,1.07004101197,0.556841112284,0.0186767532612,1.06967881389
+352,5.866666667,pose2_to_pose3_retreat,0.585803446744,0.0100018389447,1.07004097445,0.556375166259,0.0186766670016,1.06967877204
+353,5.883333333,pose2_to_pose3_retreat,0.585372582614,0.010001781595,1.0700408749,0.5559443016,0.0186766076796,1.06967866801
+354,5.900000000,pose2_to_pose3_retreat,0.584975464333,0.0100018266725,1.07004096025,0.555547182779,0.0186766507604,1.06967874986
+355,5.916666667,pose2_to_pose3_retreat,0.584599105629,0.0100018996639,1.07004095988,0.555170824799,0.0186767262582,1.06967875116
+356,5.933333333,pose2_to_pose3_retreat,0.58423960078,0.01000188997,1.07004092655,0.554811320011,0.0186767171076,1.06967872547
+357,5.950000000,pose2_to_pose3_retreat,0.583892150687,0.0100016749163,1.07004094446,0.554463872748,0.0186765113647,1.0696787364
+358,5.966666667,pose2_to_pose3_retreat,0.58356196984,0.010001784701,1.07004072523,0.554133689623,0.0186766135135,1.06967851986
+359,5.983333333,pose2_to_pose3_retreat,0.583255259895,0.0100018712314,1.07004095211,0.553826979492,0.0186766997188,1.06967875381
+360,6.000000000,pose2_to_pose3_retreat,0.582970548789,0.0100018793936,1.07004084658,0.553542268204,0.0186767073734,1.06967865083
+361,6.016666667,pose2_to_pose3_retreat,0.582708252252,0.0100018721158,1.07004080892,0.553279971188,0.0186766981951,1.06967860688
+362,6.033333333,pose2_to_pose3_retreat,0.58246987859,0.0100018987841,1.07004091085,0.55304159684,0.0186767221856,1.06967870052
+363,6.050000000,pose2_to_pose3_retreat,0.582252417088,0.0100018754874,1.07004086753,0.552824135482,0.0186766993624,1.06967865663
+364,6.066666667,pose2_to_pose3_retreat,0.58205528106,0.0100018191773,1.07004068989,0.552627000467,0.0186766467642,1.06967848543
+365,6.083333333,pose2_to_pose3_retreat,0.581876859807,0.0100018545802,1.07004072066,0.552448579546,0.0186766834133,1.06967851922
+366,6.100000000,pose2_to_pose3_retreat,0.581717530335,0.0100018087587,1.07004093268,0.552289249612,0.0186766358751,1.06967872766
+367,6.116666667,pose2_to_pose3_retreat,0.581574467499,0.0100018847089,1.07004082335,0.552146185505,0.0186767076012,1.06967862052
+368,6.133333333,pose2_to_pose3_retreat,0.581446197073,0.0100018487789,1.07004083877,0.552017915087,0.0186766714572,1.06967863016
+369,6.150000000,pose2_to_pose3_retreat,0.581330134136,0.0100018086283,1.07004084935,0.551901853855,0.0186766369629,1.0696786377
+370,6.166666667,pose2_to_pose3_retreat,0.581225211001,0.0100018767094,1.07004082168,0.55179693035,0.0186767039807,1.06967861593
+371,6.183333333,pose2_to_pose3_retreat,0.581132762469,0.0100019240956,1.0700408415,0.551704481666,0.018676751229,1.06967864503
+372,6.200000000,pose2_to_pose3_retreat,0.581052503231,0.0100018655588,1.07004086663,0.551624223788,0.0186766972046,1.0696786669
+373,6.216666667,pose2_to_pose3_retreat,0.580984460516,0.0100018395442,1.0700408282,0.551556180458,0.0186766688522,1.06967862235
+374,6.233333333,pose2_to_pose3_retreat,0.580928886277,0.0100018704071,1.07004081871,0.551500604653,0.0186766944975,1.06967861502
+375,6.250000000,pose2_to_pose3_retreat,0.580884059863,0.0100017902849,1.0700408804,0.551455780466,0.0186766215035,1.06967866637
+376,6.266666667,pose2_to_pose3_retreat,0.580847638238,0.0100017065491,1.07004094967,0.551419359867,0.0186765415067,1.06967874177
+377,6.283333333,pose2_to_pose3_retreat,0.580818157585,0.0100018320101,1.07004093694,0.551389879102,0.0186766666971,1.06967873171
+378,6.300000000,pose2_to_pose3_retreat,0.580795797852,0.0100017839337,1.07004084026,0.551367519114,0.0186766177616,1.06967863517
+379,6.316666667,pose2_to_pose3_retreat,0.580778022801,0.0100018450993,1.07004072223,0.551349743106,0.0186766757112,1.0696785179
+380,6.333333333,pose2_to_pose3_retreat,0.580765203309,0.0100018483022,1.07004078933,0.551336922805,0.0186766760627,1.06967858247
+381,6.350000000,pose2_to_pose3_retreat,0.580757029277,0.0100018543175,1.07004075623,0.55132874856,0.0186766814049,1.06967855057
+382,6.366666667,pose2_to_pose3_retreat,0.580752118704,0.010001872285,1.07004068847,0.551323838074,0.0186766997813,1.0696784856
+383,6.383333333,pose2_to_pose3_retreat,0.580749337258,0.0100018899381,1.07004068123,0.551321056817,0.0186767181568,1.06967848025
+384,6.400000000,pose2_to_pose3_retreat,0.580747753028,0.0100018832182,1.07004073239,0.551319472415,0.0186767108416,1.06967853117
+385,6.416666667,pose2_to_pose3_retreat,0.580747246707,0.0100018647059,1.07004080268,0.551318965765,0.0186766911567,1.06967860009
+386,6.433333333,pose2_to_pose3_retreat,0.580746847316,0.0100018501032,1.07004085812,0.551318566115,0.0186766756291,1.06967865445
+387,6.450000000,pose2_to_pose3_retreat,0.58074660297,0.0100018411693,1.07004089204,0.551318321611,0.0186766661293,1.06967868771
+388,6.466666667,pose2_to_pose3_retreat,0.580746552322,0.0100018393175,1.07004089907,0.551318270929,0.0186766641602,1.06967869461
+389,6.483333333,pose2_to_pose3_retreat,0.580746353729,0.0100018320565,1.07004092664,0.551318072207,0.0186766564392,1.06967872164
+390,6.500000000,pose2_to_pose3_retreat,0.580745836345,0.0100018131397,1.07004099846,0.551317554488,0.0186766363243,1.06967879206
+391,6.516666667,pose2_to_pose3_retreat,0.580745538033,0.0100018022327,1.07004103987,0.551317255982,0.0186766247264,1.06967883266
+392,6.533333333,pose2_to_pose3_retreat,0.580745467565,0.0100017996562,1.07004104965,0.551317185469,0.0186766219867,1.06967884226
+393,6.550000000,pose2_to_pose3_retreat,0.580745374149,0.0100017962519,1.07004106221,0.551317091995,0.0186766183788,1.06967885457
+394,6.566666667,pose2_to_pose3_retreat,0.580745254085,0.0100017929871,1.07004103818,0.551316972215,0.0186766161039,1.06967883123
+395,6.583333333,pose2_to_pose3_retreat,0.580745017818,0.0100017865624,1.07004099088,0.551316736505,0.0186766116274,1.06967878529
+396,6.600000000,pose2_to_pose3_retreat,0.580744996755,0.0100017859896,1.07004098666,0.551316715492,0.0186766112283,1.06967878119
+397,6.616666667,pose2_to_pose3_retreat,0.580744586498,0.0100017748337,1.07004090453,0.551316306203,0.0186766034552,1.06967870142
+398,6.633333333,pose2_to_pose3_retreat,0.580744364382,0.0100017687938,1.07004086006,0.551316084611,0.0186765992467,1.06967865823
+399,6.650000000,pose2_to_pose3_retreat,0.580744315874,0.0100017674747,1.07004085035,0.551316036218,0.0186765983277,1.0696786488
+400,6.666666667,pose2_to_pose3_retreat,0.580744294482,0.010001766893,1.07004084607,0.551316014876,0.0186765979223,1.06967864464
+401,6.683333333,pose2_to_pose3_retreat,0.580744126475,0.0100017623245,1.07004081243,0.551315847266,0.0186765947391,1.06967861197
+402,6.700000000,pose2_to_pose3_retreat,0.580743840513,0.0100017612814,1.07004092584,0.551315560889,0.0186765917495,1.06967871238
+403,6.716666667,pose2_to_pose3_retreat,0.580743623579,0.0100017762706,1.07004101429,0.551315343424,0.0186766045652,1.06967879199
+404,6.733333333,pose2_to_pose3_retreat,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788

Part2/Obstacle_avoidance/ball_0030_15/position_12/depth_03/fem_node.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46e52aa92e1c24f897b397acfad99d32ae45ca9b8ad7542993349d72b018e5f3
+size 25827122

Part2/Obstacle_avoidance/ball_0030_15/position_12/depth_03/simulation_data.csv

@@ -0,0 +1,408 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+1,0.016666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+2,0.033333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+3,0.050000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+4,0.066666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+5,0.083333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+6,0.100000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+7,0.116666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+8,0.133333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+9,0.150000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+10,0.166666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+11,0.183333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+12,0.200000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+13,0.216666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+14,0.233333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+15,0.250000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+16,0.266666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+17,0.283333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+18,0.300000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+19,0.316666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+20,0.333333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+21,0.350000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+22,0.366666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+23,0.383333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+24,0.400000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+25,0.416666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+26,0.433333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+27,0.450000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+28,0.466666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+29,0.483333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+30,0.500000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+31,0.516666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+32,0.533333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+33,0.550000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+34,0.566666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+35,0.583333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+36,0.600000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+37,0.616666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+38,0.633333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+39,0.650000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+40,0.666666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+41,0.683333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+42,0.700000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+43,0.716666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+44,0.733333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+45,0.750000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+46,0.766666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+47,0.783333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+48,0.800000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+49,0.816666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+50,0.833333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+51,0.850000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+52,0.866666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+53,0.883333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+54,0.900000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+55,0.916666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+56,0.933333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+57,0.950000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+58,0.966666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+59,0.983333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+60,1.000000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+61,1.016666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+62,1.033333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+63,1.050000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+64,1.066666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+65,1.083333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+66,1.100000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+67,1.116666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+68,1.133333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+69,1.150000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+70,1.166666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+71,1.183333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+72,1.200000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+73,1.216666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+74,1.233333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+75,1.250000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+76,1.266666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+77,1.283333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+78,1.300000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+79,1.316666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+80,1.333333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+81,1.350000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+82,1.366666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+83,1.383333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+84,1.400000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+85,1.416666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+86,1.433333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+87,1.450000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+88,1.466666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+89,1.483333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+90,1.500000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+91,1.516666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+92,1.533333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+93,1.550000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+94,1.566666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+95,1.583333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+96,1.600000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+97,1.616666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+98,1.633333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+99,1.650000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+100,1.666666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+101,1.683333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+102,1.700000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+103,1.716666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+104,1.733333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+105,1.750000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+106,1.766666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+107,1.783333333,pose1_to_pose2_press,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+108,1.800000000,pose1_to_pose2_press,0.580743847757,0.0100018394094,1.07004080481,0.551315567171,0.0186766670157,1.06967860103
+109,1.816666667,pose1_to_pose2_press,0.58074440492,0.0100018019131,1.07004074859,0.551316124722,0.0186766309437,1.06967854735
+110,1.833333333,pose1_to_pose2_press,0.58074468702,0.0100018268086,1.07004080479,0.551316405748,0.0186766521638,1.06967860284
+111,1.850000000,pose1_to_pose2_press,0.580745082611,0.0100018617199,1.07004088359,0.551316799832,0.018676681921,1.06967868064
+112,1.866666667,pose1_to_pose2_press,0.580745649493,0.010001888872,1.0700409311,0.551317366233,0.0186767074254,1.06967872767
+113,1.883333333,pose1_to_pose2_press,0.580745854064,0.0100018928257,1.07004093153,0.551317571061,0.0186767122506,1.06967872817
+114,1.900000000,pose1_to_pose2_press,0.580746821111,0.0100019115156,1.07004093355,0.551318539318,0.0186767350602,1.06967873052
+115,1.916666667,pose1_to_pose2_press,0.580750404383,0.0100018300427,1.07004102264,0.551322123924,0.0186766579185,1.06967881499
+116,1.933333333,pose1_to_pose2_press,0.580759194123,0.0100018792378,1.07004094046,0.551330913233,0.0186767058388,1.06967873721
+117,1.950000000,pose1_to_pose2_press,0.580775553644,0.010001942489,1.07004083938,0.551347273217,0.018676770781,1.06967863901
+118,1.966666667,pose1_to_pose2_press,0.580803640297,0.0100018488699,1.07004076664,0.551375359612,0.01867667638,1.06967856845
+119,1.983333333,pose1_to_pose2_press,0.580843117963,0.010001852907,1.07004102111,0.55141483815,0.0186766830207,1.06967881432
+120,2.000000000,pose1_to_pose2_press,0.58089266554,0.0100019383723,1.07004083487,0.551464383889,0.0186767621648,1.06967862601
+121,2.016666667,pose1_to_pose2_press,0.580950482017,0.0100019034964,1.07004084092,0.551522201058,0.0186767295643,1.06967863017
+122,2.033333333,pose1_to_pose2_press,0.581016714864,0.0100018995271,1.07004079349,0.551588434799,0.0186767291371,1.06967859485
+123,2.050000000,pose1_to_pose2_press,0.581090149282,0.0100018682184,1.07004086738,0.551661868818,0.0186766965468,1.06967867043
+124,2.066666667,pose1_to_pose2_press,0.581171930526,0.0100018923998,1.07004092836,0.551743649335,0.0186767180378,1.06967872606
+125,2.083333333,pose1_to_pose2_press,0.581267683743,0.0100019117534,1.07004102303,0.55183940291,0.018676738386,1.06967881541
+126,2.100000000,pose1_to_pose2_press,0.581376937995,0.0100018639219,1.07004107674,0.551948657696,0.0186766923583,1.06967886886
+127,2.116666667,pose1_to_pose2_press,0.581500590248,0.0100018594476,1.07004096688,0.552072309226,0.0186766854068,1.06967875847
+128,2.133333333,pose1_to_pose2_press,0.581638452862,0.010001860215,1.0700408402,0.552210171833,0.0186766861273,1.06967863115
+129,2.150000000,pose1_to_pose2_press,0.581791232558,0.0100018145148,1.07004077248,0.552362952078,0.0186766425281,1.06967856912
+130,2.166666667,pose1_to_pose2_press,0.581956727152,0.0100018462115,1.07004069798,0.552528446182,0.0186766728278,1.06967850091
+131,2.183333333,pose1_to_pose2_press,0.582135580754,0.0100018474038,1.07004076628,0.552707302194,0.0186766821395,1.06967856779
+132,2.200000000,pose1_to_pose2_press,0.582330433564,0.0100018566672,1.07004073313,0.552902151983,0.0186766807217,1.06967852427
+133,2.216666667,pose1_to_pose2_press,0.582542636763,0.0100019315545,1.07004094646,0.553114355539,0.0186767568743,1.06967873885
+134,2.233333333,pose1_to_pose2_press,0.582775785942,0.0100018945489,1.0700408857,0.553347503397,0.0186767150884,1.06967867086
+135,2.250000000,pose1_to_pose2_press,0.583031512315,0.010002033955,1.07004106382,0.553603228573,0.018676850326,1.06967884639
+136,2.266666667,pose1_to_pose2_press,0.583310300327,0.0100019376969,1.0700411025,0.553882018997,0.0186767623867,1.06967888824
+137,2.283333333,pose1_to_pose2_press,0.583613883246,0.0100018492586,1.07004097781,0.554185603829,0.0186766809104,1.06967877483
+138,2.300000000,pose1_to_pose2_press,0.583939697741,0.0100018578527,1.07004085979,0.554511418246,0.0186766892472,1.069678657
+139,2.316666667,pose1_to_pose2_press,0.584285659956,0.01000185229,1.0700406866,0.554857379376,0.018676679933,1.069678482
+140,2.333333333,pose1_to_pose2_press,0.584650061449,0.0100019010009,1.0700407905,0.555221780249,0.0186767266431,1.06967858829
+141,2.350000000,pose1_to_pose2_press,0.585033788167,0.010001904919,1.07004092808,0.555605508077,0.0186767341022,1.06967872046
+142,2.366666667,pose1_to_pose2_press,0.585436608566,0.0100018456291,1.07004076712,0.55600832902,0.0186766765423,1.06967855668
+143,2.383333333,pose1_to_pose2_press,0.585858973976,0.0100019314365,1.07004079234,0.556430692095,0.0186767549388,1.06967859405
+144,2.400000000,pose1_to_pose2_press,0.586299265315,0.0100018562409,1.07004081813,0.556870983427,0.0186766794224,1.06967861265
+145,2.416666667,pose1_to_pose2_press,0.5867591992,0.0100017758847,1.07004082516,0.557330918313,0.0186766024027,1.06967861834
+146,2.433333333,pose1_to_pose2_press,0.587246175209,0.0100017561456,1.07004082195,0.557817895318,0.0186765860716,1.06967861569
+147,2.450000000,pose1_to_pose2_press,0.587759841617,0.010001715731,1.07004084706,0.558331562622,0.0186765485232,1.06967863672
+148,2.466666667,pose1_to_pose2_press,0.588302647794,0.0100020300228,1.07004092848,0.558874364938,0.0186768498897,1.06967872218
+149,2.483333333,pose1_to_pose2_press,0.588877354973,0.0100019166401,1.07004079362,0.559449072932,0.0186767397725,1.06967859925
+150,2.500000000,pose1_to_pose2_press,0.589477483975,0.0100018299715,1.07004068656,0.560049203042,0.018676656729,1.06967848897
+151,2.516666667,pose1_to_pose2_press,0.590086851592,0.0100017380424,1.07004079699,0.560658572519,0.0186765707468,1.06967859072
+152,2.533333333,pose1_to_pose2_press,0.590704187724,0.010001890996,1.07004102627,0.561275906275,0.0186767152837,1.06967881147
+153,2.550000000,pose1_to_pose2_press,0.591331887769,0.0100019578576,1.07004092891,0.561903605613,0.0186767799613,1.06967871918
+154,2.566666667,pose1_to_pose2_press,0.591972059759,0.0100019798313,1.07004094716,0.562543777514,0.0186768018004,1.06967874138
+155,2.583333333,pose1_to_pose2_press,0.592628455201,0.010001955031,1.07004093138,0.563200173488,0.0186767790171,1.06967873075
+156,2.600000000,pose1_to_pose2_press,0.593311088933,0.010001929951,1.07004077854,0.563882807894,0.0186767564572,1.06967858346
+157,2.616666667,pose1_to_pose2_press,0.594015176597,0.0100019783198,1.07004080327,0.564586894845,0.0186768021748,1.06967860251
+158,2.633333333,pose1_to_pose2_press,0.59473607521,0.0100019300182,1.07004084711,0.565307793724,0.0186767546069,1.06967864238
+159,2.650000000,pose1_to_pose2_press,0.595472767978,0.010001837442,1.07004089959,0.566044487496,0.0186766656027,1.06967869882
+160,2.666666667,pose1_to_pose2_press,0.596226664252,0.0100016966792,1.07004085798,0.566798385976,0.0186765320037,1.06967864962
+161,2.683333333,pose1_to_pose2_press,0.596989686693,0.0100018461223,1.07004093809,0.567561405413,0.018676671207,1.06967872845
+162,2.700000000,pose1_to_pose2_press,0.597761265025,0.0100019513659,1.07004071564,0.568332982413,0.0186767719277,1.06967850596
+163,2.716666667,pose1_to_pose2_press,0.598549371864,0.0100017117854,1.07004082159,0.569121092481,0.0186765434497,1.0696786155
+164,2.733333333,pose1_to_pose2_press,0.599348135246,0.0100019257503,1.07004082704,0.569919854412,0.0186767525286,1.06967862189
+165,2.750000000,pose1_to_pose2_press,0.600152697362,0.0100018145215,1.070040833,0.570724416903,0.0186766424901,1.06967862583
+166,2.766666667,pose1_to_pose2_press,0.600956235218,0.0100018814041,1.07004090055,0.571527953328,0.0186767047026,1.06967869786
+167,2.783333333,pose1_to_pose2_press,0.601752511902,0.010001804663,1.07004084931,0.572324232004,0.0186766347438,1.06967864719
+168,2.800000000,pose1_to_pose2_press,0.602550539007,0.0100018298308,1.07004083152,0.573122257685,0.0186766548813,1.06967862464
+169,2.816666667,pose1_to_pose2_press,0.603351241277,0.0100018560456,1.07004084077,0.573922960108,0.0186766815047,1.0696786313
+170,2.833333333,pose1_to_pose2_press,0.604154503728,0.010001923575,1.07004088416,0.574726222323,0.0186767483061,1.06967867647
+171,2.850000000,pose1_to_pose2_press,0.604969005844,0.0100018928187,1.07004092831,0.575540724888,0.0186767192066,1.06967872378
+172,2.866666667,pose1_to_pose2_press,0.605798555028,0.0100017792917,1.0700408842,0.57637027691,0.0186766153467,1.06967868069
+173,2.883333333,pose1_to_pose2_press,0.606631013407,0.0100019547198,1.07004078577,0.577202732454,0.0186767810398,1.0696785795
+174,2.900000000,pose1_to_pose2_press,0.607466360067,0.0100019126481,1.07004080357,0.578038078324,0.0186767361458,1.06967859395
+175,2.916666667,pose1_to_pose2_press,0.608288402251,0.0100019228109,1.07004106159,0.578860122344,0.0186767525311,1.06967885185
+176,2.933333333,pose1_to_pose2_press,0.609099202543,0.0100019126925,1.07004093126,0.579670920742,0.0186767362258,1.06967872739
+177,2.950000000,pose1_to_pose2_press,0.609901342539,0.0100018050815,1.07004093859,0.58047306366,0.0186766384396,1.06967873264
+178,2.966666667,pose1_to_pose2_press,0.610689889604,0.0100018753166,1.07004081441,0.581261610055,0.0186767064909,1.0696786106
+179,2.983333333,pose1_to_pose2_press,0.611466136366,0.0100018381856,1.07004077421,0.582037855127,0.0186766639784,1.06967857894
+180,3.000000000,pose1_to_pose2_press,0.612243245938,0.0100019262697,1.07004077418,0.582814964825,0.0186767525311,1.0696785799
+181,3.016666667,pose1_to_pose2_press,0.613020925638,0.0100017831034,1.0700410109,0.583592645811,0.0186766132439,1.06967880512
+182,3.033333333,pose1_to_pose2_press,0.613798371816,0.0100018560696,1.07004086007,0.584370090916,0.0186766828222,1.06967866043
+183,3.050000000,pose1_to_pose2_press,0.614567336016,0.0100019489534,1.07004087922,0.585139053925,0.0186767716008,1.0696786781
+184,3.066666667,pose1_to_pose2_press,0.615318203551,0.0100019471908,1.0700408536,0.585889921422,0.0186767695465,1.06967864869
+185,3.083333333,pose1_to_pose2_press,0.616040069215,0.0100018214955,1.07004072399,0.586611788732,0.0186766496601,1.06967852445
+186,3.100000000,pose1_to_pose2_press,0.616728352406,0.010001849216,1.07004072634,0.587300072479,0.0186766793887,1.06967852987
+187,3.116666667,pose1_to_pose2_press,0.61738821247,0.0100019338804,1.07004090888,0.587959932125,0.0186767623471,1.06967870556
+188,3.133333333,pose1_to_pose2_press,0.618029582208,0.010001895805,1.07004091529,0.588601302027,0.0186767245819,1.06967870613
+189,3.150000000,pose1_to_pose2_press,0.618671222122,0.010001837051,1.07004059194,0.589242942107,0.0186766667169,1.06967839052
+190,3.166666667,pose1_to_pose2_press,0.619317412766,0.0100018526964,1.07004067962,0.589889131818,0.0186766794753,1.06967848499
+191,3.183333333,pose1_to_pose2_press,0.619964525186,0.0100018892208,1.07004085665,0.590536244431,0.0186767160645,1.06967864834
+192,3.200000000,pose1_to_pose2_press,0.620593724762,0.0100018338425,1.07004094678,0.591165446643,0.0186766694528,1.06967873415
+193,3.216666667,pose1_to_pose2_press,0.621197632797,0.0100018580031,1.07004083959,0.591769352628,0.0186766869001,1.06967863288
+194,3.233333333,pose1_to_pose2_press,0.621757129186,0.0100019900546,1.07004094928,0.592328848366,0.0186768166336,1.06967874004
+195,3.250000000,pose1_to_pose2_press,0.622281322312,0.0100019488563,1.0700408298,0.592853040452,0.018676772092,1.06967862346
+196,3.266666667,pose1_to_pose2_press,0.622777459901,0.0100019561271,1.07004091218,0.593349177466,0.0186767776841,1.06967871017
+197,3.283333333,pose1_to_pose2_press,0.623251691945,0.0100019256792,1.07004088534,0.593823410749,0.0186767519764,1.06967869266
+198,3.300000000,pose1_to_pose2_press,0.623703684624,0.0100018227535,1.07004084446,0.594275403922,0.0186766503918,1.06967864075
+199,3.316666667,pose1_to_pose2_press,0.624133216187,0.0100018616127,1.07004089734,0.5947049355,0.0186766893914,1.06967869281
+200,3.333333333,pose1_to_pose2_press,0.624541055937,0.010001957796,1.07004090146,0.595112774014,0.0186767813027,1.06967869139
+201,3.350000000,pose1_to_pose2_press,0.624929197375,0.0100019513285,1.07004084678,0.595500915655,0.0186767755774,1.06967863552
+202,3.366666667,pose1_to_pose2_press,0.625303025551,0.0100019111724,1.07004085615,0.595874744958,0.0186767396632,1.06967865256
+203,3.383333333,pose1_to_pose2_press,0.625664644308,0.0100019225598,1.07004091339,0.596236362907,0.0186767484747,1.06967870962
+204,3.400000000,pose1_to_pose2_press,0.626014685845,0.0100018141007,1.07004081006,0.596586404833,0.0186766414785,1.06967860676
+205,3.416666667,pose1_to_pose2_press,0.626350960684,0.0100019292935,1.07004079155,0.596922679098,0.0186767552717,1.06967859767
+206,3.433333333,pose1_to_pose2_press,0.626661798454,0.0100018112092,1.0700409413,0.59723351856,0.0186766425132,1.06967873495
+207,3.450000000,pose1_to_pose2_press,0.626945737783,0.0100018472639,1.07004091384,0.597517457072,0.0186766758105,1.06967870551
+208,3.466666667,pose1_to_pose2_press,0.627197712063,0.0100019891955,1.0700406854,0.597769429128,0.018676810497,1.06967848205
+209,3.483333333,pose1_to_pose2_press,0.627423680968,0.010001943896,1.07004078859,0.597995399853,0.018676771563,1.06967858802
+210,3.500000000,pose1_to_pose2_press,0.627625428327,0.0100018739115,1.070040779,0.598197147563,0.0186767030643,1.06967858369
+211,3.516666667,pose1_to_pose2_press,0.627810820693,0.0100018788534,1.07004088505,0.59838253963,0.0186767068025,1.06967868313
+212,3.533333333,pose1_to_pose2_press,0.627982143934,0.01000193142,1.07004101011,0.598553862667,0.0186767585335,1.06967880281
+213,3.550000000,pose1_to_pose2_press,0.628142811499,0.0100019275375,1.07004108089,0.598714530501,0.0186767555177,1.0696788709
+214,3.566666667,pose1_to_pose2_press,0.62829190461,0.0100019667601,1.07004095309,0.598863622182,0.0186767900515,1.06967874577
+215,3.583333333,pose1_to_pose2_press,0.628427320885,0.0100020948683,1.07004069619,0.598999035964,0.0186769101185,1.06967849751
+216,3.600000000,pose1_to_pose2_press,0.628549153233,0.0100018751477,1.07004078575,0.599120872285,0.0186767037351,1.06967858266
+217,3.616666667,pose1_to_pose2_press,0.628656863827,0.0100018708798,1.07004073618,0.599228582316,0.0186766972332,1.06967852421
+218,3.633333333,pose1_to_pose2_press,0.628750397439,0.0100019375298,1.07004077628,0.599322114312,0.018676759135,1.06967858102
+219,3.650000000,pose1_to_pose2_press,0.628830873202,0.0100017753997,1.07004062404,0.599402592951,0.0186766074627,1.06967843933
+220,3.666666667,pose1_to_pose2_press,0.628899273437,0.0100019375416,1.07004065816,0.599470991476,0.0186767631863,1.06967846334
+221,3.683333333,pose1_to_pose2_press,0.628957917256,0.0100019514661,1.07004103788,0.599529634602,0.0186767744679,1.06967883196
+222,3.700000000,pose1_to_pose2_press,0.629007502089,0.0100019063212,1.0700410742,0.599579220445,0.0186767323883,1.06967886165
+223,3.716666667,pose1_to_pose2_press,0.629050339948,0.0100018362327,1.07004090563,0.599622058639,0.0186766634572,1.0696786947
+224,3.733333333,pose1_to_pose2_press,0.629086641817,0.0100018192015,1.07004087658,0.599658361163,0.0186766488923,1.06967867021
+225,3.750000000,pose1_to_pose2_press,0.629116272115,0.0100019197124,1.07004090467,0.599687991143,0.0186767482492,1.06967869538
+226,3.766666667,pose1_to_pose2_press,0.629139522514,0.0100019362405,1.07004085279,0.599711241076,0.0186767630861,1.06967863921
+227,3.783333333,pose1_to_pose2_press,0.629156071525,0.0100018807305,1.07004087546,0.599727792005,0.0186767142045,1.06967866679
+228,3.800000000,pose1_to_pose2_press,0.629167751763,0.0100020057857,1.07004092789,0.59973946957,0.0186768304608,1.06967872658
+229,3.816666667,pose1_to_pose2_press,0.629175325217,0.0100020963182,1.07004091174,0.599747041265,0.0186769150753,1.06967871382
+230,3.833333333,pose1_to_pose2_press,0.629180376962,0.0100019611318,1.07004094659,0.599752095919,0.0186767895166,1.0696787421
+231,3.850000000,pose1_to_pose2_press,0.629183655336,0.0100019266559,1.07004085558,0.599755374523,0.0186767559154,1.06967865261
+232,3.866666667,pose1_to_pose2_press,0.629186381502,0.0100019611886,1.07004066757,0.59975809897,0.0186767849541,1.06967847206
+233,3.883333333,pose1_to_pose2_press,0.629188139812,0.0100018717215,1.07004099208,0.599759858189,0.0186766981753,1.06967878686
+234,3.900000000,pose1_to_pose2_press,0.629188779965,0.0100018143863,1.07004110063,0.59976049925,0.0186766438136,1.06967889288
+235,3.916666667,pose1_to_pose2_press,0.629189147886,0.0100017518681,1.07004115156,0.599760868382,0.018676585386,1.06967894355
+236,3.933333333,pose1_to_pose2_press,0.629189452169,0.0100017001635,1.07004119368,0.599761173667,0.0186765370644,1.06967898545
+237,3.950000000,pose1_to_pose2_press,0.629189547696,0.0100017372553,1.07004113731,0.599761268678,0.0186765723711,1.06967892811
+238,3.966666667,pose1_to_pose2_press,0.629189580393,0.0100017520684,1.07004111525,0.599761301166,0.0186765864601,1.06967890569
+239,3.983333333,pose1_to_pose2_press,0.629189610226,0.0100017655838,1.07004109512,0.599761330808,0.0186765993149,1.06967888523
+240,4.000000000,pose1_to_pose2_press,0.629189624546,0.0100017720713,1.07004108546,0.599761345036,0.0186766054852,1.06967887541
+241,4.016666667,pose1_to_pose2_press,0.629189693671,0.0100018033876,1.07004103883,0.599761413717,0.0186766352707,1.06967882801
+242,4.033333333,pose1_to_pose2_press,0.629189723562,0.0100018169293,1.07004101866,0.599761443417,0.0186766481504,1.06967880751
+243,4.050000000,pose1_to_pose2_press,0.629189726396,0.0100018182131,1.07004101675,0.599761446232,0.0186766493716,1.06967880556
+244,4.066666667,pose1_to_pose2_press,0.629189801302,0.0100018569086,1.07004096906,0.599761520614,0.0186766862779,1.06967875755
+245,4.083333333,pose1_to_pose2_press,0.629189831732,0.0100018884748,1.07004095917,0.599761550681,0.0186767166836,1.06967874922
+246,4.100000000,pose1_to_pose2_press,0.629189883287,0.0100019419547,1.07004094241,0.599761601619,0.0186767681972,1.0696787351
+247,4.116666667,pose2_hold,0.629189883287,0.0100019419547,1.07004094241,0.599761601621,0.0186767681961,1.0696787351
+248,4.133333333,pose2_hold,0.629189883287,0.0100019419547,1.07004094241,0.599761601621,0.018676768196,1.0696787351
+249,4.150000000,pose2_hold,0.629189883287,0.0100019419547,1.07004094241,0.599761601621,0.018676768196,1.0696787351
+250,4.166666667,pose2_hold,0.629189883287,0.0100019419547,1.07004094241,0.599761601621,0.0186767681955,1.0696787351
+251,4.183333333,pose2_hold,0.629189883287,0.0100019419547,1.07004094241,0.599761601621,0.0186767681955,1.0696787351
+252,4.200000000,pose2_hold,0.629189883287,0.0100019419547,1.07004094241,0.599761601621,0.018676768195,1.0696787351
+253,4.216666667,pose2_hold,0.629189883287,0.0100019419547,1.07004094241,0.599761601621,0.018676768195,1.0696787351
+254,4.233333333,pose2_hold,0.629189883287,0.0100019419547,1.07004094241,0.599761601622,0.0186767681951,1.0696787351
+255,4.250000000,pose2_hold,0.629189883287,0.0100019419547,1.07004094241,0.599761601621,0.0186767681951,1.0696787351
+256,4.266666667,pose2_hold,0.629189883287,0.0100019419547,1.07004094241,0.599761601621,0.0186767681951,1.0696787351
+257,4.283333333,pose2_hold,0.629189883287,0.0100019419547,1.07004094241,0.599761601621,0.0186767681947,1.0696787351
+258,4.300000000,pose2_hold,0.629189883287,0.0100019419547,1.07004094241,0.599761601621,0.0186767681946,1.0696787351
+259,4.316666667,pose2_hold,0.629189883287,0.0100019419547,1.07004094241,0.599761601621,0.0186767681944,1.0696787351
+260,4.333333333,pose2_hold,0.629189883287,0.0100019419547,1.07004094241,0.599761601621,0.0186767681952,1.0696787351
+261,4.350000000,pose2_hold,0.629189883287,0.0100019419547,1.07004094241,0.59976160162,0.0186767681955,1.0696787351
+262,4.366666667,pose2_hold,0.629189883287,0.0100019419547,1.07004094241,0.599761601621,0.0186767681958,1.0696787351
+263,4.383333333,pose2_to_pose3_retreat,0.629189883287,0.0100019419547,1.07004094241,0.59976160162,0.0186767681949,1.0696787351
+264,4.400000000,pose2_to_pose3_retreat,0.629189814462,0.01000187056,1.07004096478,0.599761533613,0.0186766994269,1.06967875393
+265,4.416666667,pose2_to_pose3_retreat,0.629189807718,0.0100018635641,1.07004096698,0.599761526949,0.0186766926883,1.06967875578
+266,4.433333333,pose2_to_pose3_retreat,0.629189696254,0.010001804558,1.07004103708,0.599761416277,0.0186766363841,1.06967882623
+267,4.450000000,pose2_to_pose3_retreat,0.629189495339,0.0100017135356,1.07004117263,0.599761216646,0.0186765498114,1.06967896403
+268,4.466666667,pose2_to_pose3_retreat,0.629189228577,0.0100017611093,1.07004112804,0.599760949287,0.0186765954813,1.06967892244
+269,4.483333333,pose2_to_pose3_retreat,0.629189069749,0.010001803709,1.07004108245,0.599760789909,0.0186766362852,1.06967887864
+270,4.500000000,pose2_to_pose3_retreat,0.629187976505,0.0100019353242,1.0700409206,0.599759694866,0.0186767619313,1.06967872026
+271,4.516666667,pose2_to_pose3_retreat,0.629184887289,0.0100018075312,1.07004092857,0.599756607069,0.0186766385705,1.0696787189
+272,4.533333333,pose2_to_pose3_retreat,0.629176831216,0.0100018115448,1.07004099642,0.599748550597,0.0186766412327,1.0696787874
+273,4.550000000,pose2_to_pose3_retreat,0.629162145794,0.0100019218576,1.07004087922,0.599733864542,0.0186767503197,1.06967868895
+274,4.566666667,pose2_to_pose3_retreat,0.629136980544,0.0100019251468,1.07004072814,0.599708697871,0.0186767481895,1.06967852791
+275,4.583333333,pose2_to_pose3_retreat,0.629100815854,0.0100018962585,1.07004111894,0.599672533196,0.0186767189655,1.06967890684
+276,4.600000000,pose2_to_pose3_retreat,0.629053231743,0.0100018041167,1.07004104564,0.599624951951,0.0186766369272,1.06967884198
+277,4.616666667,pose2_to_pose3_retreat,0.628996621298,0.010001981332,1.07004073113,0.59956833911,0.0186768058424,1.06967852473
+278,4.633333333,pose2_to_pose3_retreat,0.628931800573,0.0100017995002,1.07004081168,0.599503521108,0.0186766332683,1.06967860894
+279,4.650000000,pose2_to_pose3_retreat,0.628860577508,0.0100016862616,1.07004083052,0.59943229876,0.0186765221356,1.0696786245
+280,4.666666667,pose2_to_pose3_retreat,0.62878241008,0.0100018179334,1.07004081522,0.599354129791,0.0186766487458,1.06967861049
+281,4.683333333,pose2_to_pose3_retreat,0.628693249234,0.0100018775055,1.07004093025,0.599264967083,0.018676701837,1.06967872219
+282,4.700000000,pose2_to_pose3_retreat,0.62859243734,0.0100018765648,1.07004086489,0.599164155777,0.0186767028225,1.06967865605
+283,4.716666667,pose2_to_pose3_retreat,0.628477657545,0.0100019215856,1.0700408798,0.599049375509,0.0186767463555,1.06967867504
+284,4.733333333,pose2_to_pose3_retreat,0.628348816242,0.0100019392078,1.07004103933,0.598920533354,0.0186767610256,1.06967883443
+285,4.750000000,pose2_to_pose3_retreat,0.628204947501,0.0100018559528,1.07004108529,0.598776665661,0.0186766811408,1.06967887718
+286,4.766666667,pose2_to_pose3_retreat,0.628045203967,0.0100017363619,1.07004085872,0.598616925058,0.0186765714954,1.06967865219
+287,4.783333333,pose2_to_pose3_retreat,0.627870027429,0.0100017886223,1.070040959,0.598441748247,0.018676622623,1.06967874902
+288,4.800000000,pose2_to_pose3_retreat,0.627674872542,0.010001967763,1.07004091576,0.598246589184,0.0186767879335,1.06967871599
+289,4.816666667,pose2_to_pose3_retreat,0.627461328282,0.0100019408989,1.07004089019,0.598033047095,0.0186767676972,1.06967867502
+290,4.833333333,pose2_to_pose3_retreat,0.627229791645,0.0100018577149,1.07004086501,0.597801510749,0.0186766854193,1.06967864991
+291,4.850000000,pose2_to_pose3_retreat,0.626979712275,0.0100019119421,1.07004096939,0.597551430552,0.0186767369924,1.06967876016
+292,4.866666667,pose2_to_pose3_retreat,0.626709853876,0.0100018867142,1.07004107549,0.59728157314,0.01867671504,1.06967886713
+293,4.883333333,pose2_to_pose3_retreat,0.626419560196,0.0100017804803,1.07004096776,0.596991281346,0.0186766151197,1.06967875988
+294,4.900000000,pose2_to_pose3_retreat,0.626106554825,0.0100018638772,1.07004072744,0.596678275104,0.0186766957545,1.06967852685
+295,4.916666667,pose2_to_pose3_retreat,0.625762153659,0.0100019052208,1.07004093328,0.596333872513,0.0186767318324,1.06967872593
+296,4.933333333,pose2_to_pose3_retreat,0.62538899713,0.0100019249174,1.07004084484,0.595960716437,0.0186767528877,1.06967863646
+297,4.950000000,pose2_to_pose3_retreat,0.624986561333,0.0100018973227,1.07004093142,0.595558279746,0.0186767222216,1.0696787255
+298,4.966666667,pose2_to_pose3_retreat,0.624563172153,0.0100020072118,1.07004106051,0.595134889088,0.0186768268633,1.06967885206
+299,4.983333333,pose2_to_pose3_retreat,0.624122020799,0.0100019910403,1.07004087789,0.594693737299,0.0186768090648,1.06967866992
+300,5.000000000,pose2_to_pose3_retreat,0.623670044596,0.0100018497539,1.07004096166,0.594241764222,0.0186766785855,1.06967876079
+301,5.016666667,pose2_to_pose3_retreat,0.623205453076,0.0100018704796,1.07004065898,0.593777172428,0.0186766985913,1.06967846661
+302,5.033333333,pose2_to_pose3_retreat,0.622722249978,0.0100018937529,1.07004049564,0.59329396799,0.018676717267,1.06967830652
+303,5.050000000,pose2_to_pose3_retreat,0.622213975792,0.0100018196515,1.07004069367,0.592785694657,0.0186766456856,1.06967849899
+304,5.066666667,pose2_to_pose3_retreat,0.621677737567,0.0100017732946,1.07004078584,0.592249458055,0.018676604442,1.06967858244
+305,5.083333333,pose2_to_pose3_retreat,0.621115144899,0.0100018155995,1.07004069718,0.591686864161,0.018676642785,1.06967849695
+306,5.100000000,pose2_to_pose3_retreat,0.620529113714,0.0100018648751,1.07004079254,0.591100833675,0.0186766945371,1.06967859479
+307,5.116666667,pose2_to_pose3_retreat,0.6199175065,0.0100018805242,1.07004089876,0.590489225438,0.0186767066697,1.06967869996
+308,5.133333333,pose2_to_pose3_retreat,0.619279190992,0.0100020149447,1.07004093832,0.589850908889,0.0186768372864,1.06967873293
+309,5.150000000,pose2_to_pose3_retreat,0.618609856915,0.0100018435573,1.07004087271,0.589181575778,0.0186766689381,1.06967866156
+310,5.166666667,pose2_to_pose3_retreat,0.617907206398,0.010001856973,1.07004101311,0.588478925638,0.0186766836871,1.06967880324
+311,5.183333333,pose2_to_pose3_retreat,0.617173268949,0.0100019240611,1.07004113745,0.587744987386,0.0186767482808,1.06967893316
+312,5.200000000,pose2_to_pose3_retreat,0.616438028552,0.0100019238342,1.07004104252,0.587009746956,0.0186767477764,1.06967883416
+313,5.216666667,pose2_to_pose3_retreat,0.615706113489,0.0100018775307,1.07004089753,0.586277832805,0.0186767045088,1.06967868633
+314,5.233333333,pose2_to_pose3_retreat,0.614978846199,0.0100017938585,1.07004083209,0.585550566379,0.018676623935,1.069678623
+315,5.250000000,pose2_to_pose3_retreat,0.614248521094,0.0100017877621,1.07004077678,0.584820241187,0.0186766177607,1.06967857208
+316,5.266666667,pose2_to_pose3_retreat,0.613508013027,0.010001898552,1.07004065631,0.584079732364,0.0186767261712,1.06967845578
+317,5.283333333,pose2_to_pose3_retreat,0.61273769388,0.0100018424457,1.07004057332,0.58330941377,0.0186766718425,1.06967837036
+318,5.300000000,pose2_to_pose3_retreat,0.611938714325,0.0100017805947,1.07004058027,0.582510434659,0.018676611476,1.06967837682
+319,5.316666667,pose2_to_pose3_retreat,0.611103900919,0.0100017391218,1.07004089363,0.581675621627,0.0186765715583,1.06967869702
+320,5.333333333,pose2_to_pose3_retreat,0.61025294799,0.0100019616559,1.07004094783,0.580824667459,0.0186767894316,1.06967874024
+321,5.350000000,pose2_to_pose3_retreat,0.609404642673,0.010001782282,1.07004098407,0.579976364869,0.0186766190288,1.06967876971
+322,5.366666667,pose2_to_pose3_retreat,0.60856314925,0.0100018601482,1.07004087534,0.579134868325,0.0186766864199,1.06967866367
+323,5.383333333,pose2_to_pose3_retreat,0.607731874368,0.0100018634542,1.07004099804,0.578303593607,0.0186766904579,1.06967879059
+324,5.400000000,pose2_to_pose3_retreat,0.6069135706,0.0100018046902,1.07004099619,0.577485291608,0.0186766377046,1.06967878888
+325,5.416666667,pose2_to_pose3_retreat,0.606097723174,0.0100017409667,1.07004084639,0.576669444073,0.0186765734945,1.06967863621
+326,5.433333333,pose2_to_pose3_retreat,0.605267853087,0.0100017287916,1.07004080835,0.575839573223,0.0186765587399,1.06967859837
+327,5.450000000,pose2_to_pose3_retreat,0.604418601703,0.010001786218,1.07004093734,0.574990322088,0.0186766172109,1.06967873218
+328,5.466666667,pose2_to_pose3_retreat,0.603547039836,0.0100018484732,1.0700409057,0.574118758862,0.0186766748734,1.06967870087
+329,5.483333333,pose2_to_pose3_retreat,0.602676873949,0.0100018747559,1.07004082889,0.573248592384,0.01867669897,1.06967861969
+330,5.500000000,pose2_to_pose3_retreat,0.601814970757,0.0100017866934,1.07004085908,0.572386691093,0.0186766172946,1.06967864845
+331,5.516666667,pose2_to_pose3_retreat,0.600984082763,0.010001858852,1.07004096673,0.571555802292,0.018676686611,1.06967875357
+332,5.533333333,pose2_to_pose3_retreat,0.600180277857,0.0100018828353,1.07004081688,0.57075199625,0.018676707202,1.06967861469
+333,5.550000000,pose2_to_pose3_retreat,0.599395045441,0.0100018996977,1.07004089503,0.569966765835,0.018676730937,1.06967869492
+334,5.566666667,pose2_to_pose3_retreat,0.598611537163,0.0100018136168,1.070040868,0.569183257614,0.0186766448136,1.06967866208
+335,5.583333333,pose2_to_pose3_retreat,0.59782306758,0.0100019130466,1.07004098925,0.56839478694,0.0186767402339,1.06967877601
+336,5.600000000,pose2_to_pose3_retreat,0.597024884476,0.0100019233579,1.07004096992,0.567596604003,0.0186767511953,1.0696787587
+337,5.616666667,pose2_to_pose3_retreat,0.59622433874,0.0100018441452,1.07004087091,0.566796058571,0.0186766732675,1.06967866576
+338,5.633333333,pose2_to_pose3_retreat,0.595432275007,0.0100019192173,1.07004090081,0.566003993648,0.0186767443278,1.0696786962
+339,5.650000000,pose2_to_pose3_retreat,0.594661873656,0.0100019240876,1.07004085952,0.56523359219,0.018676748739,1.06967865266
+340,5.666666667,pose2_to_pose3_retreat,0.593925218029,0.010001787724,1.07004094464,0.564496938322,0.0186766180489,1.06967873067
+341,5.683333333,pose2_to_pose3_retreat,0.59321096592,0.0100015875764,1.07004087826,0.563782688174,0.0186764245604,1.06967866442
+342,5.700000000,pose2_to_pose3_retreat,0.592518069238,0.0100017532842,1.07004107829,0.563089791279,0.0186765897434,1.06967886913
+343,5.716666667,pose2_to_pose3_retreat,0.59184191542,0.0100018643773,1.07004083456,0.562413636185,0.0186766967349,1.06967863084
+344,5.733333333,pose2_to_pose3_retreat,0.591177924301,0.0100019489754,1.07004092121,0.561749642016,0.0186767708763,1.06967871483
+345,5.750000000,pose2_to_pose3_retreat,0.590525747736,0.0100019151404,1.07004087568,0.561097466112,0.0186767389367,1.06967866411
+346,5.766666667,pose2_to_pose3_retreat,0.589893448939,0.0100018431797,1.07004085267,0.560465168998,0.0186766726013,1.06967863994
+347,5.783333333,pose2_to_pose3_retreat,0.589287078699,0.0100017219498,1.07004092947,0.559858800412,0.0186765575308,1.06967872952
+348,5.800000000,pose2_to_pose3_retreat,0.588706503173,0.0100017282551,1.07004102325,0.559278223865,0.0186765604959,1.06967882631
+349,5.816666667,pose2_to_pose3_retreat,0.58814693449,0.0100018334702,1.07004098268,0.558718653751,0.0186766604955,1.06967877699
+350,5.833333333,pose2_to_pose3_retreat,0.587600605589,0.0100018590296,1.07004086682,0.55817232549,0.0186766881927,1.06967866032
+351,5.850000000,pose2_to_pose3_retreat,0.58706729058,0.0100018858776,1.07004095991,0.557639008597,0.0186767085119,1.0696787501
+352,5.866666667,pose2_to_pose3_retreat,0.586552465304,0.0100017823792,1.07004089739,0.557124186224,0.0186766148882,1.06967868801
+353,5.883333333,pose2_to_pose3_retreat,0.586067140612,0.0100016840773,1.07004057694,0.556638862148,0.0186765189639,1.06967837421
+354,5.900000000,pose2_to_pose3_retreat,0.585614843918,0.0100018725762,1.07004066418,0.556186562813,0.01867669879,1.06967846758
+355,5.916666667,pose2_to_pose3_retreat,0.585196534197,0.010001887787,1.07004103038,0.555768252638,0.0186767119277,1.06967882135
+356,5.933333333,pose2_to_pose3_retreat,0.58480488555,0.0100020251255,1.07004082127,0.555376601836,0.0186768418149,1.06967860952
+357,5.950000000,pose2_to_pose3_retreat,0.584431739474,0.0100019136473,1.07004078537,0.555003458274,0.0186767390708,1.06967857841
+358,5.966666667,pose2_to_pose3_retreat,0.584074608272,0.0100018940042,1.07004072731,0.554646326664,0.0186767184066,1.06967852884
+359,5.983333333,pose2_to_pose3_retreat,0.583734354591,0.0100019579906,1.07004084397,0.554306071891,0.0186767786061,1.06967864381
+360,6.000000000,pose2_to_pose3_retreat,0.583416150941,0.0100019054311,1.07004107481,0.55398787006,0.0186767318024,1.06967886481
+361,6.016666667,pose2_to_pose3_retreat,0.583120837625,0.0100018086897,1.07004089769,0.553692558114,0.0186766397434,1.0696786883
+362,6.033333333,pose2_to_pose3_retreat,0.582847790589,0.0100018134907,1.07004047691,0.553419510593,0.0186766433316,1.06967827798
+363,6.050000000,pose2_to_pose3_retreat,0.582595825622,0.0100017944027,1.07004071107,0.553167545171,0.0186766226669,1.06967851172
+364,6.066666667,pose2_to_pose3_retreat,0.582366139885,0.0100019471374,1.07004101874,0.552937857854,0.0186767701226,1.0696788212
+365,6.083333333,pose2_to_pose3_retreat,0.582155617915,0.0100017810363,1.07004083417,0.552727338222,0.0186766117414,1.06967863126
+366,6.100000000,pose2_to_pose3_retreat,0.581964639384,0.0100018906603,1.0700408463,0.552536358232,0.018676716119,1.0696786364
+367,6.116666667,pose2_to_pose3_retreat,0.581795159416,0.010001920902,1.07004071609,0.552366879023,0.0186767493635,1.06967851654
+368,6.133333333,pose2_to_pose3_retreat,0.581645012922,0.0100018343416,1.07004074588,0.552216732971,0.0186766642852,1.06967854597
+369,6.150000000,pose2_to_pose3_retreat,0.581510435607,0.010001822448,1.07004080654,0.552082154715,0.0186766491196,1.06967860473
+370,6.166666667,pose2_to_pose3_retreat,0.581388686604,0.0100018860773,1.07004072969,0.551960404782,0.0186767096592,1.06967852951
+371,6.183333333,pose2_to_pose3_retreat,0.581279345383,0.0100018645035,1.07004067067,0.55185106448,0.0186766910171,1.06967846642
+372,6.200000000,pose2_to_pose3_retreat,0.581180571105,0.0100018322302,1.0700410872,0.551752291751,0.0186766636749,1.06967887683
+373,6.216666667,pose2_to_pose3_retreat,0.581092731022,0.0100018147701,1.07004107003,0.551664452343,0.0186766486866,1.06967886268
+374,6.233333333,pose2_to_pose3_retreat,0.58101831407,0.0100020176535,1.07004084791,0.551590031086,0.0186768368288,1.0696786371
+375,6.250000000,pose2_to_pose3_retreat,0.580955924496,0.010001852727,1.07004099444,0.551527643183,0.01867667833,1.06967880169
+376,6.266666667,pose2_to_pose3_retreat,0.580905257302,0.0100019987957,1.07004072549,0.5514769741,0.018676817741,1.06967852671
+377,6.283333333,pose2_to_pose3_retreat,0.580864153619,0.0100018328645,1.07004090448,0.551435872844,0.0186766596012,1.06967869503
+378,6.300000000,pose2_to_pose3_retreat,0.580832180867,0.0100019288722,1.07004080094,0.551403899248,0.0186767527262,1.0696785911
+379,6.316666667,pose2_to_pose3_retreat,0.580806609902,0.0100018986054,1.07004078588,0.551378328371,0.0186767227996,1.069678577
+380,6.333333333,pose2_to_pose3_retreat,0.58078712194,0.0100018578449,1.07004094316,0.551358840589,0.0186766826111,1.06967873333
+381,6.350000000,pose2_to_pose3_retreat,0.580773102421,0.0100019084267,1.07004101442,0.551344820601,0.0186767316186,1.06967880504
+382,6.366666667,pose2_to_pose3_retreat,0.580763337242,0.0100018827655,1.07004082089,0.55133505622,0.0186767088491,1.06967861595
+383,6.383333333,pose2_to_pose3_retreat,0.580757033897,0.0100018925634,1.0700408955,0.551328753062,0.0186767193359,1.06967869189
+384,6.400000000,pose2_to_pose3_retreat,0.580752760204,0.0100019055205,1.07004087075,0.551324479071,0.0186767312825,1.06967866709
+385,6.416666667,pose2_to_pose3_retreat,0.580750258664,0.0100019190385,1.07004076708,0.551321976908,0.0186767426422,1.06967856243
+386,6.433333333,pose2_to_pose3_retreat,0.580748397873,0.0100019253909,1.0700407244,0.551320115946,0.0186767484212,1.06967851993
+387,6.450000000,pose2_to_pose3_retreat,0.580747185302,0.0100019177049,1.07004080652,0.551318904197,0.0186767436576,1.06967860515
+388,6.466666667,pose2_to_pose3_retreat,0.580746397723,0.0100019127128,1.07004085986,0.551318117153,0.0186767405636,1.0696786605
+389,6.483333333,pose2_to_pose3_retreat,0.58074587649,0.0100019094089,1.07004089516,0.551317596273,0.0186767385159,1.06967869713
+390,6.500000000,pose2_to_pose3_retreat,0.580745616924,0.0100019070965,1.07004090547,0.551317336838,0.018676736663,1.06967870785
+391,6.516666667,pose2_to_pose3_retreat,0.580745455474,0.0100019040381,1.07004089424,0.551317175358,0.0186767334873,1.06967869624
+392,6.533333333,pose2_to_pose3_retreat,0.580745329179,0.0100019016456,1.07004088546,0.55131704904,0.018676731003,1.06967868716
+393,6.550000000,pose2_to_pose3_retreat,0.580745211051,0.0100018994079,1.07004087724,0.55131693089,0.0186767286794,1.06967867867
+394,6.566666667,pose2_to_pose3_retreat,0.580745113462,0.0100018975592,1.07004087045,0.551316833283,0.0186767267598,1.06967867166
+395,6.583333333,pose2_to_pose3_retreat,0.580745037311,0.0100018961167,1.07004086516,0.551316757118,0.0186767252619,1.06967866619
+396,6.600000000,pose2_to_pose3_retreat,0.580744799739,0.0100018916163,1.07004084863,0.551316519502,0.0186767205888,1.06967864911
+397,6.616666667,pose2_to_pose3_retreat,0.580744464559,0.0100018852669,1.07004082532,0.551316184261,0.0186767139957,1.06967862502
+398,6.633333333,pose2_to_pose3_retreat,0.580744063578,0.010001861639,1.07004082849,0.551315783389,0.0186766906657,1.06967862656
+399,6.650000000,pose2_to_pose3_retreat,0.580743778953,0.0100018038147,1.07004091024,0.551315499305,0.0186766345617,1.0696787054
+400,6.666666667,pose2_to_pose3_retreat,0.580743697896,0.0100017873473,1.07004093352,0.551315418403,0.0186766185843,1.06967872786
+401,6.683333333,pose2_to_pose3_retreat,0.580743646524,0.0100017769106,1.07004094827,0.551315367129,0.0186766084581,1.06967874209
+402,6.700000000,pose2_to_pose3_retreat,0.580743578828,0.0100018016987,1.07004098083,0.551315298737,0.0186766305832,1.06967876745
+403,6.716666667,pose2_to_pose3_retreat,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+404,6.733333333,pose2_to_pose3_retreat,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+405,6.750000000,pose2_to_pose3_retreat,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+406,6.766666667,pose2_to_pose3_retreat,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788

Part2/Obstacle_avoidance/ball_0030_15/position_12/depth_04/fem_node.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:453c88dd906d88e1e852e501a28245627a9d217654203d8a5a451dc31ec9e194
+size 25902332

Part2/Obstacle_avoidance/ball_0030_15/position_12/depth_04/simulation_data.csv

@@ -0,0 +1,409 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+1,0.016666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+2,0.033333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+3,0.050000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+4,0.066666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+5,0.083333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+6,0.100000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+7,0.116666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+8,0.133333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+9,0.150000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+10,0.166666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+11,0.183333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+12,0.200000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+13,0.216666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+14,0.233333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+15,0.250000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+16,0.266666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+17,0.283333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+18,0.300000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+19,0.316666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+20,0.333333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+21,0.350000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+22,0.366666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+23,0.383333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+24,0.400000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+25,0.416666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+26,0.433333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+27,0.450000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+28,0.466666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+29,0.483333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+30,0.500000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+31,0.516666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+32,0.533333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+33,0.550000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+34,0.566666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+35,0.583333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+36,0.600000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+37,0.616666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+38,0.633333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+39,0.650000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+40,0.666666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+41,0.683333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+42,0.700000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+43,0.716666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+44,0.733333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+45,0.750000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+46,0.766666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+47,0.783333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+48,0.800000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+49,0.816666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+50,0.833333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+51,0.850000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+52,0.866666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+53,0.883333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+54,0.900000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+55,0.916666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+56,0.933333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+57,0.950000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+58,0.966666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+59,0.983333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+60,1.000000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+61,1.016666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+62,1.033333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+63,1.050000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+64,1.066666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+65,1.083333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+66,1.100000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+67,1.116666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+68,1.133333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+69,1.150000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+70,1.166666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+71,1.183333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+72,1.200000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+73,1.216666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+74,1.233333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+75,1.250000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+76,1.266666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+77,1.283333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+78,1.300000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+79,1.316666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+80,1.333333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+81,1.350000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+82,1.366666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+83,1.383333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+84,1.400000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+85,1.416666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+86,1.433333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+87,1.450000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+88,1.466666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+89,1.483333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+90,1.500000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+91,1.516666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+92,1.533333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+93,1.550000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+94,1.566666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+95,1.583333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+96,1.600000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+97,1.616666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+98,1.633333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+99,1.650000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+100,1.666666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+101,1.683333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+102,1.700000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+103,1.716666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+104,1.733333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+105,1.750000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+106,1.766666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+107,1.783333333,pose1_to_pose2_press,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+108,1.800000000,pose1_to_pose2_press,0.58074370156,0.0100018789843,1.07004087694,0.551315420011,0.0186767032374,1.06967867113
+109,1.816666667,pose1_to_pose2_press,0.580744012907,0.0100017947042,1.07004072333,0.551315733409,0.0186766260984,1.06967852184
+110,1.833333333,pose1_to_pose2_press,0.580744284018,0.0100017614693,1.07004072998,0.551316004903,0.018676594138,1.0696785279
+111,1.850000000,pose1_to_pose2_press,0.580744312948,0.0100017596009,1.07004073655,0.551316033816,0.018676592199,1.06967853424
+112,1.866666667,pose1_to_pose2_press,0.580744571183,0.0100017429233,1.07004079525,0.551316291892,0.0186765748913,1.06967859077
+113,1.883333333,pose1_to_pose2_press,0.580745009824,0.0100017145946,1.07004089496,0.551316730262,0.0186765454923,1.06967868679
+114,1.900000000,pose1_to_pose2_press,0.580746649391,0.0100017337177,1.07004086748,0.551318370145,0.0186765659225,1.069678665
+115,1.916666667,pose1_to_pose2_press,0.580751412475,0.0100018253565,1.07004103878,0.551323132036,0.0186766532044,1.06967882881
+116,1.933333333,pose1_to_pose2_press,0.58076220827,0.0100017206281,1.07004082023,0.551333929727,0.018676555134,1.06967861591
+117,1.950000000,pose1_to_pose2_press,0.580780757515,0.0100017370201,1.07004071755,0.551352480588,0.0186765771954,1.06967851732
+118,1.966666667,pose1_to_pose2_press,0.58081121366,0.0100018324178,1.07004079855,0.5513829318,0.0186766556405,1.06967859309
+119,1.983333333,pose1_to_pose2_press,0.580852416247,0.0100019158055,1.07004073011,0.551424135184,0.0186767420917,1.06967853322
+120,2.000000000,pose1_to_pose2_press,0.580902998782,0.0100018271124,1.07004082123,0.551474718927,0.0186766571323,1.06967861551
+121,2.016666667,pose1_to_pose2_press,0.580961895694,0.0100018626162,1.07004057804,0.551533614844,0.0186766894653,1.06967837723
+122,2.033333333,pose1_to_pose2_press,0.581029815592,0.0100017877162,1.07004068969,0.551601535675,0.0186766176059,1.06967848578
+123,2.050000000,pose1_to_pose2_press,0.581105502294,0.0100017187219,1.07004097114,0.551677222912,0.0186765500022,1.06967875698
+124,2.066666667,pose1_to_pose2_press,0.581189515285,0.0100019300629,1.07004096721,0.551761233437,0.0186767531515,1.06967875719
+125,2.083333333,pose1_to_pose2_press,0.581286335628,0.0100019528592,1.07004091086,0.551858054043,0.0186767773416,1.06967871282
+126,2.100000000,pose1_to_pose2_press,0.58139628594,0.0100018664211,1.07004087101,0.551968004052,0.0186766893659,1.06967866072
+127,2.116666667,pose1_to_pose2_press,0.581521066568,0.0100018826528,1.07004081203,0.552092784962,0.0186767068552,1.06967860894
+128,2.133333333,pose1_to_pose2_press,0.581660865484,0.0100018019764,1.07004087268,0.552232585511,0.0186766318777,1.0696786734
+129,2.150000000,pose1_to_pose2_press,0.581816611289,0.0100017632424,1.07004084028,0.552388332499,0.018676597196,1.06967864187
+130,2.166666667,pose1_to_pose2_press,0.581985857668,0.0100017647428,1.07004078929,0.552557578361,0.0186765969676,1.06967859142
+131,2.183333333,pose1_to_pose2_press,0.582167815098,0.0100017953373,1.07004079926,0.552739535159,0.0186766253334,1.06967859933
+132,2.200000000,pose1_to_pose2_press,0.582363964493,0.0100018503668,1.07004083462,0.552935684615,0.0186766805251,1.06967863354
+133,2.216666667,pose1_to_pose2_press,0.582576499493,0.0100018489583,1.07004091184,0.553148219016,0.0186766771039,1.06967871127
+134,2.233333333,pose1_to_pose2_press,0.582810270104,0.0100018815168,1.07004095665,0.553381988601,0.0186767057682,1.06967874607
+135,2.250000000,pose1_to_pose2_press,0.583068843118,0.010001884971,1.07004083254,0.553640561693,0.018676709615,1.06967862498
+136,2.266666667,pose1_to_pose2_press,0.583353449839,0.0100018140778,1.07004092335,0.553925169754,0.0186766435297,1.06967872199
+137,2.283333333,pose1_to_pose2_press,0.58366253638,0.0100019330525,1.07004092653,0.55423425691,0.0186767645982,1.06967872529
+138,2.300000000,pose1_to_pose2_press,0.583992808211,0.0100019345948,1.07004090858,0.554564528866,0.0186767667259,1.06967871119
+139,2.316666667,pose1_to_pose2_press,0.584342767056,0.010001880003,1.07004073143,0.554914484934,0.0186767025173,1.06967852931
+140,2.333333333,pose1_to_pose2_press,0.584710372166,0.0100018028117,1.07004088415,0.555282091813,0.018676631138,1.06967867742
+141,2.350000000,pose1_to_pose2_press,0.585096169829,0.0100018836877,1.07004086022,0.555667890362,0.0186767151177,1.06967865577
+142,2.366666667,pose1_to_pose2_press,0.585504198521,0.0100018357541,1.07004099523,0.55607591969,0.0186766690339,1.06967878336
+143,2.383333333,pose1_to_pose2_press,0.585934056971,0.0100018380023,1.0700409605,0.556505777373,0.0186766687514,1.06967875032
+144,2.400000000,pose1_to_pose2_press,0.58638144383,0.0100018584622,1.07004075159,0.556953163057,0.0186766856446,1.06967855143
+145,2.416666667,pose1_to_pose2_press,0.586848225034,0.0100018992647,1.07004080858,0.557419943415,0.0186767236083,1.06967860912
+146,2.433333333,pose1_to_pose2_press,0.587340192238,0.0100019830686,1.07004103101,0.557911910444,0.0186768065154,1.0696788242
+147,2.450000000,pose1_to_pose2_press,0.587859673432,0.0100018387814,1.0700409311,0.558431393705,0.0186766691789,1.06967872282
+148,2.466666667,pose1_to_pose2_press,0.58841040159,0.0100019166056,1.07004080567,0.558982121006,0.0186767446359,1.06967861029
+149,2.483333333,pose1_to_pose2_press,0.588991062269,0.0100019413426,1.07004085764,0.559562782335,0.0186767717897,1.06967866723
+150,2.500000000,pose1_to_pose2_press,0.589595450776,0.010001902647,1.07004077808,0.560167170076,0.0186767303093,1.06967858329
+151,2.516666667,pose1_to_pose2_press,0.590212458528,0.0100020169804,1.07004082628,0.56078417721,0.0186768421984,1.06967862301
+152,2.533333333,pose1_to_pose2_press,0.590837209211,0.0100017661442,1.07004091402,0.561408929325,0.0186765962175,1.06967871069
+153,2.550000000,pose1_to_pose2_press,0.59146966281,0.0100017155374,1.07004082578,0.562041384486,0.0186765508104,1.06967862014
+154,2.566666667,pose1_to_pose2_press,0.592119480097,0.0100018544768,1.07004094513,0.562691200041,0.0186766837734,1.06967873703
+155,2.583333333,pose1_to_pose2_press,0.592790131371,0.0100019622145,1.07004082578,0.563361850252,0.0186767882574,1.06967862609
+156,2.600000000,pose1_to_pose2_press,0.59348261539,0.0100018631119,1.07004081935,0.564054334938,0.018676691262,1.06967861592
+157,2.616666667,pose1_to_pose2_press,0.594194090508,0.0100019555707,1.07004094145,0.564765808893,0.0186767801397,1.06967874666
+158,2.633333333,pose1_to_pose2_press,0.594925066756,0.0100019587656,1.07004081882,0.5654967846,0.0186767812501,1.06967861814
+159,2.650000000,pose1_to_pose2_press,0.595672766086,0.0100017979192,1.07004084556,0.566244486857,0.0186766300568,1.06967863825
+160,2.666666667,pose1_to_pose2_press,0.596438690209,0.0100017772427,1.07004094684,0.567010411212,0.0186766101944,1.06967874013
+161,2.683333333,pose1_to_pose2_press,0.597216679771,0.0100018338275,1.07004100591,0.567788399976,0.0186766640797,1.06967879946
+162,2.700000000,pose1_to_pose2_press,0.598004095912,0.0100017716009,1.07004098086,0.568575816487,0.0186766030198,1.06967877221
+163,2.716666667,pose1_to_pose2_press,0.598802816031,0.0100017998964,1.07004079217,0.569374534173,0.0186766230398,1.06967858298
+164,2.733333333,pose1_to_pose2_press,0.59960864077,0.0100019607893,1.07004081044,0.570180357393,0.01867677895,1.06967860539
+165,2.750000000,pose1_to_pose2_press,0.600421137266,0.0100019270871,1.07004099049,0.570992856007,0.0186767524481,1.06967878584
+166,2.766666667,pose1_to_pose2_press,0.601233819283,0.0100018317211,1.07004082223,0.571805539407,0.0186766618949,1.0696786205
+167,2.783333333,pose1_to_pose2_press,0.602040860847,0.0100017228993,1.07004088261,0.572612582322,0.0186765580669,1.06967869072
+168,2.800000000,pose1_to_pose2_press,0.602854911344,0.0100016690703,1.07004090564,0.573426633877,0.0186765076158,1.06967870881
+169,2.816666667,pose1_to_pose2_press,0.603672859573,0.0100018533203,1.07004090954,0.574244578507,0.0186766796241,1.06967871188
+170,2.833333333,pose1_to_pose2_press,0.604487697821,0.010001923834,1.07004108971,0.575059417312,0.0186767513543,1.06967887593
+171,2.850000000,pose1_to_pose2_press,0.605314930335,0.0100018638167,1.07004088243,0.575886650801,0.018676694874,1.06967867418
+172,2.866666667,pose1_to_pose2_press,0.606161978532,0.0100018033766,1.07004088712,0.576733699236,0.0186766356535,1.06967868884
+173,2.883333333,pose1_to_pose2_press,0.607010297203,0.01000182453,1.07004070842,0.577582016775,0.0186766531915,1.06967851551
+174,2.900000000,pose1_to_pose2_press,0.60785957207,0.0100018698009,1.07004076249,0.578431292615,0.018676701492,1.06967856322
+175,2.916666667,pose1_to_pose2_press,0.608699602221,0.0100018500824,1.0700409014,0.579271322933,0.0186766820705,1.06967869569
+176,2.933333333,pose1_to_pose2_press,0.609527114478,0.0100017803362,1.07004100031,0.580098835592,0.0186766137989,1.06967879736
+177,2.950000000,pose1_to_pose2_press,0.610337591207,0.0100018383492,1.07004092721,0.580909310574,0.0186766658456,1.06967872331
+178,2.966666667,pose1_to_pose2_press,0.611137061811,0.0100019028033,1.07004075186,0.581708780317,0.0186767274385,1.06967854945
+179,2.983333333,pose1_to_pose2_press,0.611930239758,0.0100018367025,1.07004066967,0.582501960361,0.0186766686141,1.06967847124
+180,3.000000000,pose1_to_pose2_press,0.612723197964,0.0100018145977,1.07004076149,0.58329491943,0.0186766493792,1.06967856175
+181,3.016666667,pose1_to_pose2_press,0.613517266502,0.01000191075,1.07004088203,0.584088986231,0.0186767396771,1.06967868325
+182,3.033333333,pose1_to_pose2_press,0.614318011018,0.0100018847178,1.07004087209,0.584889729273,0.0186767084826,1.06967866944
+183,3.050000000,pose1_to_pose2_press,0.615108660667,0.01000182048,1.07004091938,0.585680379901,0.0186766476557,1.06967871895
+184,3.066666667,pose1_to_pose2_press,0.615874614329,0.010001722813,1.07004058798,0.5864463354,0.0186765561835,1.06967838677
+185,3.083333333,pose1_to_pose2_press,0.61660928312,0.0100018528448,1.07004078845,0.587181003171,0.0186766822255,1.06967857466
+186,3.100000000,pose1_to_pose2_press,0.617308062197,0.0100018564121,1.07004106097,0.587879782632,0.0186766873556,1.0696788535
+187,3.116666667,pose1_to_pose2_press,0.617977959602,0.0100018934606,1.07004109558,0.588549679154,0.0186767212046,1.06967888321
+188,3.133333333,pose1_to_pose2_press,0.618632878754,0.0100018667371,1.07004092625,0.589204598614,0.0186766961127,1.06967872739
+189,3.150000000,pose1_to_pose2_press,0.619293294795,0.0100017886205,1.07004082122,0.589865014861,0.0186766185838,1.06967862025
+190,3.166666667,pose1_to_pose2_press,0.619959499067,0.0100017829256,1.07004087394,0.590531218262,0.0186766100774,1.06967867616
+191,3.183333333,pose1_to_pose2_press,0.620626020014,0.0100018544552,1.0700410082,0.591197738259,0.0186766782497,1.06967880772
+192,3.200000000,pose1_to_pose2_press,0.621270573702,0.0100019035107,1.07004104444,0.591842292437,0.0186767288688,1.06967884187
+193,3.216666667,pose1_to_pose2_press,0.62188580062,0.0100018690539,1.07004119048,0.592457520657,0.0186766980515,1.06967897519
+194,3.233333333,pose1_to_pose2_press,0.622453897911,0.0100018710451,1.07004088596,0.59302561851,0.0186767022852,1.06967867275
+195,3.250000000,pose1_to_pose2_press,0.622987950205,0.0100019498999,1.07004075663,0.593559669581,0.0186767777206,1.06967855545
+196,3.266666667,pose1_to_pose2_press,0.623497087347,0.0100019185201,1.0700408053,0.594068806653,0.0186767462538,1.06967860432
+197,3.283333333,pose1_to_pose2_press,0.623983489218,0.0100018723908,1.07004088882,0.594555209309,0.0186767026554,1.06967868125
+198,3.300000000,pose1_to_pose2_press,0.624445533561,0.010001857508,1.07004090784,0.595017253724,0.0186766881478,1.06967870034
+199,3.316666667,pose1_to_pose2_press,0.624886056173,0.0100017970135,1.0700408051,0.595457775547,0.0186766252643,1.06967860093
+200,3.333333333,pose1_to_pose2_press,0.625306050145,0.010001896226,1.07004081452,0.595877767679,0.0186767182646,1.06967860739
+201,3.350000000,pose1_to_pose2_press,0.625708532461,0.010001881768,1.07004073896,0.596280253088,0.0186767142898,1.06967852829
+202,3.366666667,pose1_to_pose2_press,0.626100350071,0.010001869276,1.07004093412,0.596672071298,0.0186767042212,1.06967872984
+203,3.383333333,pose1_to_pose2_press,0.62648295339,0.0100018455226,1.07004110648,0.597054672917,0.0186766742389,1.06967888728
+204,3.400000000,pose1_to_pose2_press,0.62685104367,0.0100019262067,1.07004108294,0.597422762214,0.0186767520391,1.06967887085
+205,3.416666667,pose1_to_pose2_press,0.627201201249,0.0100018142563,1.0700408607,0.597772921137,0.0186766449741,1.0696786533
+206,3.433333333,pose1_to_pose2_press,0.627517445885,0.0100019681886,1.07004101936,0.598089164542,0.0186767949527,1.06967881491
+207,3.450000000,pose1_to_pose2_press,0.627802164132,0.0100019200908,1.07004105221,0.598373881566,0.018676742834,1.06967884802
+208,3.466666667,pose1_to_pose2_press,0.628056631032,0.0100018225298,1.0700410803,0.598628350222,0.0186766511092,1.06967887081
+209,3.483333333,pose1_to_pose2_press,0.628288649416,0.0100018891032,1.07004093329,0.598860368528,0.0186767177009,1.06967872823
+210,3.500000000,pose1_to_pose2_press,0.628500363949,0.0100019233328,1.07004086186,0.599072082198,0.0186767491525,1.06967865815
+211,3.516666667,pose1_to_pose2_press,0.628701155791,0.0100018311144,1.07004096949,0.599272874451,0.0186766580162,1.06967875658
+212,3.533333333,pose1_to_pose2_press,0.628890473268,0.0100017878989,1.07004099509,0.599462192817,0.0186766176966,1.06967877774
+213,3.550000000,pose1_to_pose2_press,0.629066128845,0.0100017717739,1.07004091283,0.599637848532,0.0186766024448,1.06967870337
+214,3.566666667,pose1_to_pose2_press,0.629227337958,0.0100018261781,1.07004060784,0.599799056184,0.0186766522079,1.06967840429
+215,3.583333333,pose1_to_pose2_press,0.629372188427,0.0100019471438,1.0700411485,0.59994390802,0.0186767781136,1.06967895051
+216,3.600000000,pose1_to_pose2_press,0.629502310307,0.0100017766672,1.07004083067,0.600074032176,0.0186766151616,1.06967862699
+217,3.616666667,pose1_to_pose2_press,0.62961814224,0.0100019192726,1.07004074019,0.600189860102,0.0186767439382,1.06967852972
+218,3.633333333,pose1_to_pose2_press,0.629718705767,0.0100018817666,1.07004103428,0.600290424787,0.0186767103543,1.06967882322
+219,3.650000000,pose1_to_pose2_press,0.629805750419,0.0100019087606,1.07004086792,0.6003774687,0.0186767356143,1.06967866493
+220,3.666666667,pose1_to_pose2_press,0.629880176998,0.0100018567285,1.07004073357,0.600451895749,0.0186766849619,1.06967853007
+221,3.683333333,pose1_to_pose2_press,0.629943624669,0.0100018987704,1.07004094577,0.600515343076,0.0186767254986,1.06967873832
+222,3.700000000,pose1_to_pose2_press,0.629996265464,0.0100019098577,1.07004092707,0.600567984196,0.0186767378719,1.06967872295
+223,3.716666667,pose1_to_pose2_press,0.630040581455,0.0100018643495,1.07004079282,0.600612300299,0.0186766929547,1.06967859317
+224,3.733333333,pose1_to_pose2_press,0.630076940219,0.0100018288553,1.07004083378,0.60064865928,0.0186766581965,1.06967863482
+225,3.750000000,pose1_to_pose2_press,0.630106225125,0.0100018188002,1.07004086773,0.60067794519,0.018676651522,1.06967866688
+226,3.766666667,pose1_to_pose2_press,0.630129431753,0.0100018464803,1.07004073057,0.600701150334,0.0186766739454,1.06967852122
+227,3.783333333,pose1_to_pose2_press,0.630146697908,0.0100019487428,1.07004084757,0.600718416988,0.0186767776848,1.06967863551
+228,3.800000000,pose1_to_pose2_press,0.630159864413,0.0100019522087,1.07004110695,0.600731582674,0.0186767785864,1.06967889919
+229,3.816666667,pose1_to_pose2_press,0.630169289668,0.0100018828112,1.07004100878,0.600741009303,0.0186767137077,1.06967879692
+230,3.833333333,pose1_to_pose2_press,0.630176202124,0.0100018292141,1.07004081056,0.600747922606,0.0186766630753,1.06967860053
+231,3.850000000,pose1_to_pose2_press,0.630180925191,0.0100018301585,1.07004067197,0.600752644719,0.0186766613456,1.06967847529
+232,3.866666667,pose1_to_pose2_press,0.630183874998,0.0100018498777,1.07004078267,0.60075559427,0.0186766797909,1.06967857653
+233,3.883333333,pose1_to_pose2_press,0.630185774796,0.0100018598342,1.0700408573,0.600757493995,0.0186766892377,1.06967864501
+234,3.900000000,pose1_to_pose2_press,0.630186851366,0.0100018303766,1.07004083846,0.600758571244,0.018676662259,1.06967863047
+235,3.916666667,pose1_to_pose2_press,0.630187619349,0.0100018093627,1.07004082502,0.600759339711,0.0186766430134,1.06967862009
+236,3.933333333,pose1_to_pose2_press,0.630188139206,0.0100018039365,1.07004081044,0.600759859603,0.0186766377322,1.06967860613
+237,3.950000000,pose1_to_pose2_press,0.630188646104,0.0100018272882,1.0700407784,0.600760365585,0.0186766578002,1.06967856992
+238,3.966666667,pose1_to_pose2_press,0.630189011093,0.0100018441025,1.07004075533,0.600760729913,0.01867667225,1.06967854385
+239,3.983333333,pose1_to_pose2_press,0.63018907445,0.0100018470212,1.07004075133,0.600760793156,0.0186766747583,1.06967853932
+240,4.000000000,pose1_to_pose2_press,0.630189120495,0.0100018491424,1.07004074842,0.600760839118,0.0186766765812,1.06967853603
+241,4.016666667,pose1_to_pose2_press,0.630189303506,0.0100018575733,1.07004073685,0.600761021797,0.0186766838266,1.06967852296
+242,4.033333333,pose1_to_pose2_press,0.630189444935,0.0100018562489,1.07004075265,0.600761163309,0.0186766828312,1.06967853995
+243,4.050000000,pose1_to_pose2_press,0.630189565366,0.0100018431662,1.07004080384,0.600761284328,0.0186766719276,1.06967859573
+244,4.066666667,pose1_to_pose2_press,0.630189789633,0.0100018188038,1.07004089915,0.60076150969,0.0186766516228,1.06967869961
+245,4.083333333,pose1_to_pose2_press,0.630189894269,0.0100018802097,1.07004081458,0.600761613588,0.018676710274,1.06967860974
+246,4.100000000,pose1_to_pose2_press,0.630189898451,0.0100018907082,1.07004081015,0.60076161773,0.0186767206254,1.06967860501
+247,4.116666667,pose2_hold,0.630189898451,0.0100018907082,1.07004081015,0.60076161773,0.0186767206251,1.06967860502
+248,4.133333333,pose2_hold,0.630189898451,0.0100018907082,1.07004081015,0.60076161773,0.0186767206249,1.06967860501
+249,4.150000000,pose2_hold,0.630189898451,0.0100018907082,1.07004081015,0.60076161773,0.018676720625,1.06967860501
+250,4.166666667,pose2_hold,0.630189898451,0.0100018907082,1.07004081015,0.60076161773,0.0186767206251,1.06967860502
+251,4.183333333,pose2_hold,0.630189898451,0.0100018907082,1.07004081015,0.60076161773,0.018676720625,1.06967860501
+252,4.200000000,pose2_hold,0.630189898451,0.0100018907082,1.07004081015,0.60076161773,0.0186767206249,1.06967860501
+253,4.216666667,pose2_hold,0.630189898451,0.0100018907082,1.07004081015,0.600761617729,0.018676720625,1.06967860501
+254,4.233333333,pose2_hold,0.630189898451,0.0100018907082,1.07004081015,0.60076161773,0.0186767206242,1.06967860502
+255,4.250000000,pose2_hold,0.630189898451,0.0100018907082,1.07004081015,0.600761617731,0.0186767206245,1.06967860501
+256,4.266666667,pose2_hold,0.630189898451,0.0100018907082,1.07004081015,0.60076161773,0.018676720625,1.06967860501
+257,4.283333333,pose2_hold,0.630189898451,0.0100018907082,1.07004081015,0.60076161773,0.018676720626,1.06967860501
+258,4.300000000,pose2_hold,0.630189898451,0.0100018907082,1.07004081015,0.60076161773,0.018676720626,1.06967860501
+259,4.316666667,pose2_hold,0.630189898451,0.0100018907082,1.07004081015,0.600761617729,0.018676720626,1.06967860501
+260,4.333333333,pose2_hold,0.630189898451,0.0100018907082,1.07004081015,0.60076161773,0.0186767206256,1.06967860501
+261,4.350000000,pose2_hold,0.630189898451,0.0100018907082,1.07004081015,0.60076161773,0.0186767206253,1.06967860501
+262,4.366666667,pose2_hold,0.630189898451,0.0100018907082,1.07004081015,0.60076161773,0.0186767206251,1.06967860501
+263,4.383333333,pose2_to_pose3_retreat,0.630189898451,0.0100018907082,1.07004081015,0.60076161773,0.0186767206252,1.06967860501
+264,4.400000000,pose2_to_pose3_retreat,0.630189897925,0.0100018902182,1.0700408107,0.600761617197,0.0186767201078,1.06967860544
+265,4.416666667,pose2_to_pose3_retreat,0.630189892879,0.0100018855149,1.07004081601,0.600761612088,0.0186767151416,1.06967860957
+266,4.433333333,pose2_to_pose3_retreat,0.630189872916,0.010001866907,1.070040837,0.600761591876,0.0186766954936,1.06967862589
+267,4.450000000,pose2_to_pose3_retreat,0.630189827804,0.0100018704951,1.07004084145,0.600761546473,0.0186766980635,1.06967862975
+268,4.466666667,pose2_to_pose3_retreat,0.630189681047,0.0100018931003,1.07004084562,0.600761398835,0.0186767176758,1.06967863438
+269,4.483333333,pose2_to_pose3_retreat,0.630189606536,0.0100019045774,1.07004084773,0.600761323877,0.0186767276333,1.06967863673
+270,4.500000000,pose2_to_pose3_retreat,0.630189093407,0.0100018875105,1.07004067089,0.600760810434,0.0186767096922,1.06967846414
+271,4.516666667,pose2_to_pose3_retreat,0.63018727223,0.010001877524,1.07004057125,0.600758989617,0.0186767011565,1.06967836943
+272,4.533333333,pose2_to_pose3_retreat,0.63018180198,0.0100018939151,1.07004077786,0.600753520795,0.0186767226451,1.06967858387
+273,4.550000000,pose2_to_pose3_retreat,0.630170701227,0.0100018646419,1.07004094899,0.600742419768,0.0186766918164,1.06967874089
+274,4.566666667,pose2_to_pose3_retreat,0.630149534881,0.0100020777163,1.07004093744,0.600721250986,0.0186768972007,1.06967874199
+275,4.583333333,pose2_to_pose3_retreat,0.630117921436,0.010001788725,1.0700410928,0.600689641057,0.0186766196059,1.06967888195
+276,4.600000000,pose2_to_pose3_retreat,0.630075002184,0.0100018933358,1.07004077939,0.60064672014,0.0186767191789,1.06967858338
+277,4.616666667,pose2_to_pose3_retreat,0.630022973419,0.0100017870922,1.07004093065,0.600594694739,0.0186766239977,1.06967872656
+278,4.633333333,pose2_to_pose3_retreat,0.629962493889,0.0100018995031,1.07004091286,0.600534212891,0.0186767287461,1.06967871395
+279,4.650000000,pose2_to_pose3_retreat,0.629895673001,0.0100020070067,1.07004092801,0.600467391175,0.0186768332441,1.06967872509
+280,4.666666667,pose2_to_pose3_retreat,0.629822196526,0.0100019802369,1.0700407902,0.600393914022,0.0186768039945,1.06967858541
+281,4.683333333,pose2_to_pose3_retreat,0.629737540388,0.0100019050796,1.07004074619,0.600309257872,0.0186767288008,1.06967854322
+282,4.700000000,pose2_to_pose3_retreat,0.62964101286,0.0100019101398,1.07004080544,0.600212730254,0.0186767335677,1.06967860374
+283,4.716666667,pose2_to_pose3_retreat,0.629530431837,0.0100019170175,1.07004084895,0.600102149176,0.018676740116,1.06967864505
+284,4.733333333,pose2_to_pose3_retreat,0.629404958309,0.0100017361775,1.0700409348,0.599976678223,0.0186765677243,1.06967872546
+285,4.750000000,pose2_to_pose3_retreat,0.629262478586,0.01000189333,1.07004083275,0.599834197685,0.0186767223839,1.06967863146
+286,4.766666667,pose2_to_pose3_retreat,0.629104447571,0.0100018638631,1.07004121052,0.599676166795,0.0186766926658,1.06967899429
+287,4.783333333,pose2_to_pose3_retreat,0.62892998924,0.0100017817826,1.07004096131,0.599501709496,0.0186766146471,1.06967876006
+288,4.800000000,pose2_to_pose3_retreat,0.628735534231,0.0100018250199,1.07004093199,0.599307252683,0.0186766515896,1.06967872848
+289,4.816666667,pose2_to_pose3_retreat,0.628522976416,0.0100017975369,1.07004084617,0.599094696024,0.0186766279767,1.06967864374
+290,4.833333333,pose2_to_pose3_retreat,0.628292524717,0.0100018951106,1.07004087291,0.598864243626,0.0186767230427,1.06967866961
+291,4.850000000,pose2_to_pose3_retreat,0.628044722017,0.0100019986967,1.07004087945,0.598616439528,0.0186768217849,1.06967867601
+292,4.866666667,pose2_to_pose3_retreat,0.62777964771,0.010001886787,1.07004093523,0.598351366605,0.0186767143584,1.06967872917
+293,4.883333333,pose2_to_pose3_retreat,0.627495899454,0.010001674831,1.07004120908,0.598067620932,0.018676510614,1.06967899246
+294,4.900000000,pose2_to_pose3_retreat,0.627191984844,0.0100018382352,1.07004107928,0.597763704511,0.018676667929,1.06967886703
+295,4.916666667,pose2_to_pose3_retreat,0.626861723471,0.0100017792714,1.07004082905,0.597433444424,0.0186766134915,1.06967862353
+296,4.933333333,pose2_to_pose3_retreat,0.62650453183,0.0100018266818,1.07004093763,0.597076252333,0.0186766590537,1.06967872738
+297,4.950000000,pose2_to_pose3_retreat,0.626117745108,0.0100019688512,1.07004086036,0.59668946357,0.0186767941115,1.06967864985
+298,4.966666667,pose2_to_pose3_retreat,0.625703188162,0.0100019704449,1.07004089198,0.596274906469,0.0186767953439,1.06967868963
+299,4.983333333,pose2_to_pose3_retreat,0.625262155757,0.010001853458,1.07004067047,0.595833874737,0.0186766808271,1.06967847577
+300,5.000000000,pose2_to_pose3_retreat,0.62480220393,0.0100018410029,1.07004076372,0.595373921803,0.0186766641807,1.06967856248
+301,5.016666667,pose2_to_pose3_retreat,0.624326010897,0.0100018369927,1.07004088434,0.594897729135,0.0186766610187,1.06967867846
+302,5.033333333,pose2_to_pose3_retreat,0.623834709382,0.0100018540601,1.0700408892,0.594406428643,0.0186766815751,1.06967868769
+303,5.050000000,pose2_to_pose3_retreat,0.623327577136,0.0100019465178,1.07004097044,0.59389929538,0.0186767705883,1.06967877181
+304,5.066666667,pose2_to_pose3_retreat,0.622802227087,0.0100018879621,1.07004079794,0.593373946041,0.0186767142756,1.06967859878
+305,5.083333333,pose2_to_pose3_retreat,0.622250348323,0.0100018390582,1.07004082737,0.592822069647,0.0186766729774,1.06967862098
+306,5.100000000,pose2_to_pose3_retreat,0.621671563651,0.0100019881926,1.07004091923,0.592243281876,0.0186768118074,1.06967871792
+307,5.116666667,pose2_to_pose3_retreat,0.6210629063,0.0100020068498,1.07004092389,0.591634624638,0.0186768308947,1.06967872358
+308,5.133333333,pose2_to_pose3_retreat,0.620428017854,0.0100020408579,1.07004092052,0.590999734751,0.0186768600506,1.06967872095
+309,5.150000000,pose2_to_pose3_retreat,0.619767037696,0.0100019474974,1.07004112689,0.590338755982,0.0186767709298,1.06967891604
+310,5.166666667,pose2_to_pose3_retreat,0.619074741155,0.010001855904,1.0700410288,0.589646460913,0.0186766845203,1.06967882237
+311,5.183333333,pose2_to_pose3_retreat,0.618348945004,0.0100018599337,1.0700409881,0.588920665059,0.0186766897933,1.06967878733
+312,5.200000000,pose2_to_pose3_retreat,0.617606817208,0.0100018103048,1.07004084098,0.588178537927,0.0186766424566,1.06967864113
+313,5.216666667,pose2_to_pose3_retreat,0.616853562231,0.0100017981416,1.07004074558,0.587425282409,0.0186766283926,1.06967854415
+314,5.233333333,pose2_to_pose3_retreat,0.616098761362,0.0100019093847,1.07004074474,0.586670479629,0.0186767332325,1.06967854523
+315,5.250000000,pose2_to_pose3_retreat,0.615350132826,0.0100019603066,1.07004075019,0.585921850618,0.0186767826346,1.06967855159
+316,5.266666667,pose2_to_pose3_retreat,0.614606298416,0.0100018434173,1.07004101094,0.585178017896,0.0186766711205,1.0696788011
+317,5.283333333,pose2_to_pose3_retreat,0.61384533588,0.0100017004768,1.07004117361,0.584417057134,0.0186765341294,1.0696789618
+318,5.300000000,pose2_to_pose3_retreat,0.613061939084,0.010001821197,1.07004077482,0.583633657985,0.0186766476198,1.06967858068
+319,5.316666667,pose2_to_pose3_retreat,0.612242861643,0.010001888009,1.07004102687,0.582814581863,0.0186767186079,1.06967882553
+320,5.333333333,pose2_to_pose3_retreat,0.611393570671,0.0100018241175,1.07004103584,0.581965291865,0.018676658043,1.06967883506
+321,5.350000000,pose2_to_pose3_retreat,0.610518198437,0.010001906821,1.07004051018,0.581089916943,0.0186767318923,1.06967831574
+322,5.366666667,pose2_to_pose3_retreat,0.609646526733,0.0100018969043,1.07004076551,0.580218246621,0.0186767267977,1.06967857428
+323,5.383333333,pose2_to_pose3_retreat,0.608790821492,0.0100019155934,1.07004091977,0.579362540634,0.0186767424974,1.06967871752
+324,5.400000000,pose2_to_pose3_retreat,0.60794849955,0.0100017410002,1.07004087629,0.578520220005,0.0186765720562,1.06967866667
+325,5.416666667,pose2_to_pose3_retreat,0.607117617458,0.01000174111,1.0700409558,0.577689337908,0.018676572147,1.06967874615
+326,5.433333333,pose2_to_pose3_retreat,0.606290593553,0.0100019134524,1.07004100566,0.576862312021,0.0186767379796,1.06967880113
+327,5.450000000,pose2_to_pose3_retreat,0.605446970066,0.010001955245,1.07004092738,0.57601868777,0.0186767772247,1.06967872387
+328,5.466666667,pose2_to_pose3_retreat,0.604575616979,0.0100018392171,1.07004090546,0.575147335741,0.0186766644643,1.06967869425
+329,5.483333333,pose2_to_pose3_retreat,0.603690645355,0.0100018461232,1.07004074144,0.574262363841,0.0186766706941,1.06967853646
+330,5.500000000,pose2_to_pose3_retreat,0.602797671213,0.0100017520796,1.07004096291,0.573369392757,0.0186765866758,1.06967874955
+331,5.516666667,pose2_to_pose3_retreat,0.601932836193,0.010001965105,1.07004081627,0.5725045538,0.0186767868171,1.06967861415
+332,5.533333333,pose2_to_pose3_retreat,0.601096928071,0.0100018915208,1.07004091601,0.571668648533,0.0186767229927,1.0696787156
+333,5.550000000,pose2_to_pose3_retreat,0.600289972461,0.0100018097891,1.07004083691,0.570861692377,0.0186766391676,1.06967863074
+334,5.566666667,pose2_to_pose3_retreat,0.599494305284,0.0100018486044,1.07004090367,0.570066025296,0.0186766783951,1.0696786996
+335,5.583333333,pose2_to_pose3_retreat,0.598698026167,0.0100019423299,1.07004083795,0.569269745671,0.01867677062,1.0696786391
+336,5.600000000,pose2_to_pose3_retreat,0.597891921893,0.0100019078105,1.07004083526,0.568463641565,0.0186767368543,1.06967864087
+337,5.616666667,pose2_to_pose3_retreat,0.597079136473,0.0100018166817,1.07004096299,0.567650856921,0.0186766481728,1.0696787642
+338,5.633333333,pose2_to_pose3_retreat,0.59626301269,0.0100018617258,1.07004099938,0.566834732657,0.0186766914069,1.06967879631
+339,5.650000000,pose2_to_pose3_retreat,0.595464101807,0.0100019606934,1.07004090748,0.566035819973,0.0186767845134,1.06967871031
+340,5.666666667,pose2_to_pose3_retreat,0.594699787277,0.0100019157534,1.07004091144,0.565271505263,0.0186767388802,1.06967871222
+341,5.683333333,pose2_to_pose3_retreat,0.593957490803,0.0100018355992,1.07004094592,0.564529210017,0.0186766623335,1.06967873333
+342,5.700000000,pose2_to_pose3_retreat,0.593236685277,0.010001935702,1.07004083256,0.563808401914,0.0186767539952,1.06967862719
+343,5.716666667,pose2_to_pose3_retreat,0.592535586175,0.0100018975733,1.07004095265,0.563107305544,0.0186767249671,1.06967874316
+344,5.733333333,pose2_to_pose3_retreat,0.59185025458,0.0100017542178,1.07004092087,0.562421974628,0.0186765842701,1.06967871992
+345,5.750000000,pose2_to_pose3_retreat,0.591178474926,0.0100017660472,1.07004072194,0.561750195114,0.0186765963696,1.06967852009
+346,5.766666667,pose2_to_pose3_retreat,0.590523878043,0.0100017668051,1.07004081578,0.561095598697,0.0186765983815,1.06967860622
+347,5.783333333,pose2_to_pose3_retreat,0.589892693131,0.0100017883457,1.07004066437,0.560464413875,0.0186766203383,1.0696784573
+348,5.800000000,pose2_to_pose3_retreat,0.589286751101,0.0100018724621,1.07004072914,0.559858470075,0.0186766984485,1.06967852204
+349,5.816666667,pose2_to_pose3_retreat,0.588704258581,0.0100018983091,1.07004086999,0.559275976918,0.0186767222267,1.069678665
+350,5.833333333,pose2_to_pose3_retreat,0.58813991461,0.0100018578234,1.07004080956,0.558711633875,0.0186766850895,1.06967860928
+351,5.850000000,pose2_to_pose3_retreat,0.587590176855,0.0100018045475,1.07004072006,0.558161897432,0.0186766362326,1.06967851895
+352,5.866666667,pose2_to_pose3_retreat,0.587055645361,0.0100017887342,1.07004085177,0.557627366658,0.0186766227286,1.06967864731
+353,5.883333333,pose2_to_pose3_retreat,0.586545162707,0.0100019072875,1.07004091578,0.55711688189,0.0186767343639,1.06967871708
+354,5.900000000,pose2_to_pose3_retreat,0.586063580352,0.010001915312,1.07004088512,0.556635299675,0.0186767430289,1.06967868973
+355,5.916666667,pose2_to_pose3_retreat,0.585613535398,0.010001948894,1.07004082069,0.556185254054,0.018676774055,1.06967861866
+356,5.933333333,pose2_to_pose3_retreat,0.585192094059,0.0100019159345,1.07004108469,0.555763810902,0.018676734427,1.06967887062
+357,5.950000000,pose2_to_pose3_retreat,0.584797233591,0.0100020442802,1.07004092914,0.555368951225,0.0186768661479,1.06967873139
+358,5.966666667,pose2_to_pose3_retreat,0.584420980211,0.0100019480975,1.07004094957,0.554992699937,0.0186767766874,1.06967874295
+359,5.983333333,pose2_to_pose3_retreat,0.584061044756,0.0100018456287,1.07004077733,0.554632765342,0.0186766773064,1.06967857522
+360,6.000000000,pose2_to_pose3_retreat,0.583721772197,0.0100018835247,1.07004081198,0.554293489926,0.0186767056042,1.06967861239
+361,6.016666667,pose2_to_pose3_retreat,0.583403915003,0.010001908704,1.07004088847,0.553975632468,0.0186767296382,1.06967868271
+362,6.033333333,pose2_to_pose3_retreat,0.58310703119,0.0100018801109,1.07004094593,0.553678750821,0.0186767081461,1.0696787341
+363,6.050000000,pose2_to_pose3_retreat,0.582831472875,0.0100018702879,1.07004105676,0.553403192554,0.0186766983782,1.06967884259
+364,6.066666667,pose2_to_pose3_retreat,0.58258122649,0.010001869523,1.07004096531,0.553152946103,0.0186766975553,1.06967875477
+365,6.083333333,pose2_to_pose3_retreat,0.582352147187,0.0100019495194,1.07004088882,0.552923865552,0.0186767737408,1.06967868833
+366,6.100000000,pose2_to_pose3_retreat,0.582144717614,0.0100017875335,1.07004072062,0.552716438091,0.0186766185999,1.0696785127
+367,6.116666667,pose2_to_pose3_retreat,0.581958638062,0.0100018013186,1.07004092776,0.552530357064,0.0186766275458,1.06967872396
+368,6.133333333,pose2_to_pose3_retreat,0.581792047101,0.010001837362,1.0700407304,0.552363768157,0.0186766707196,1.06967853041
+369,6.150000000,pose2_to_pose3_retreat,0.581641829032,0.0100019532563,1.07004081826,0.552213547138,0.0186767768447,1.06967862394
+370,6.166666667,pose2_to_pose3_retreat,0.581506258226,0.0100019435524,1.07004083773,0.552077975927,0.0186767656965,1.06967864176
+371,6.183333333,pose2_to_pose3_retreat,0.581384553129,0.0100019043809,1.07004082969,0.55195627221,0.0186767307883,1.06967862377
+372,6.200000000,pose2_to_pose3_retreat,0.581274387015,0.0100018503304,1.07004089357,0.551846107589,0.0186766815156,1.06967868135
+373,6.216666667,pose2_to_pose3_retreat,0.581175532457,0.0100017245655,1.07004098755,0.551747254499,0.0186765607974,1.06967877776
+374,6.233333333,pose2_to_pose3_retreat,0.581089425587,0.0100017562048,1.07004110514,0.551661146192,0.0186765873924,1.06967889059
+375,6.250000000,pose2_to_pose3_retreat,0.581015237182,0.0100018296234,1.07004105866,0.551586957557,0.0186766603283,1.06967885115
+376,6.266666667,pose2_to_pose3_retreat,0.580953341101,0.0100017973182,1.07004095676,0.551525060686,0.0186766254079,1.06967875064
+377,6.283333333,pose2_to_pose3_retreat,0.580902394396,0.0100019705379,1.07004104785,0.551474111288,0.0186767895776,1.06967884368
+378,6.300000000,pose2_to_pose3_retreat,0.580862486268,0.0100017893093,1.07004083039,0.551434204871,0.0186766141564,1.06967862637
+379,6.316666667,pose2_to_pose3_retreat,0.580830383857,0.0100018259553,1.07004099238,0.551402103843,0.0186766557357,1.06967879409
+380,6.333333333,pose2_to_pose3_retreat,0.580805617315,0.0100018702635,1.07004068816,0.551377337388,0.0186767002892,1.06967848871
+381,6.350000000,pose2_to_pose3_retreat,0.580787008103,0.010001818648,1.07004079755,0.551358728501,0.0186766494372,1.06967858999
+382,6.366666667,pose2_to_pose3_retreat,0.58077319819,0.0100018107785,1.07004091084,0.551344918631,0.0186766417004,1.06967870296
+383,6.383333333,pose2_to_pose3_retreat,0.580763150145,0.0100018828653,1.07004076357,0.551334870148,0.0186767126427,1.06967856395
+384,6.400000000,pose2_to_pose3_retreat,0.580756196627,0.010001913113,1.0700405804,0.551327916441,0.0186767422451,1.06967838085
+385,6.416666667,pose2_to_pose3_retreat,0.580752001304,0.0100019112966,1.07004062511,0.551323720497,0.0186767383222,1.06967842546
+386,6.433333333,pose2_to_pose3_retreat,0.580748826121,0.0100018857817,1.07004070335,0.55132054523,0.0186767124835,1.06967850269
+387,6.450000000,pose2_to_pose3_retreat,0.580746784739,0.0100017987803,1.07004078797,0.55131850559,0.0186766312286,1.06967858347
+388,6.466666667,pose2_to_pose3_retreat,0.580746063796,0.0100017680546,1.07004081785,0.551317785261,0.0186766025322,1.06967861199
+389,6.483333333,pose2_to_pose3_retreat,0.580745902513,0.0100017666319,1.07004081394,0.551317623856,0.0186766006913,1.06967860799
+390,6.500000000,pose2_to_pose3_retreat,0.580745773497,0.0100017686475,1.07004080468,0.551317494592,0.0186766018676,1.06967859877
+391,6.516666667,pose2_to_pose3_retreat,0.580745652264,0.0100017705416,1.07004079598,0.551317373126,0.018676602973,1.06967859012
+392,6.533333333,pose2_to_pose3_retreat,0.580745372782,0.0100017749079,1.07004077592,0.551317093107,0.0186766055213,1.06967857016
+393,6.550000000,pose2_to_pose3_retreat,0.580745037834,0.0100017801408,1.07004075187,0.551316757515,0.0186766085753,1.06967854624
+394,6.566666667,pose2_to_pose3_retreat,0.580744728691,0.0100017849706,1.07004072968,0.551316447777,0.018676611394,1.06967852416
+395,6.583333333,pose2_to_pose3_retreat,0.580744623946,0.010001786607,1.07004072216,0.551316342832,0.018676612349,1.06967851668
+396,6.600000000,pose2_to_pose3_retreat,0.58074444698,0.0100017893717,1.07004070946,0.551316165525,0.0186766139625,1.06967850404
+397,6.616666667,pose2_to_pose3_retreat,0.580744423007,0.0100017897463,1.07004070774,0.551316141506,0.0186766141811,1.06967850233
+398,6.633333333,pose2_to_pose3_retreat,0.580744144881,0.0100017918308,1.0700407621,0.551315863738,0.0186766174394,1.06967855571
+399,6.650000000,pose2_to_pose3_retreat,0.580743805513,0.0100017922436,1.07004089848,0.551315525649,0.0186766220959,1.06967868988
+400,6.666666667,pose2_to_pose3_retreat,0.58074375483,0.0100017923052,1.07004091885,0.551315475156,0.0186766227913,1.06967870991
+401,6.683333333,pose2_to_pose3_retreat,0.580743709916,0.0100017923598,1.07004093689,0.551315430411,0.0186766234076,1.06967872767
+402,6.700000000,pose2_to_pose3_retreat,0.580743676786,0.0100017924001,1.07004095021,0.551315397405,0.0186766238622,1.06967874077
+403,6.716666667,pose2_to_pose3_retreat,0.58074363226,0.0100017927256,1.07004096458,0.551315353019,0.0186766246425,1.06967875472
+404,6.733333333,pose2_to_pose3_retreat,0.580743585662,0.0100017939173,1.07004096856,0.551315306477,0.0186766259902,1.06967875785
+405,6.750000000,pose2_to_pose3_retreat,0.580743511075,0.0100017958247,1.07004097492,0.551315231981,0.0186766281474,1.06967876286
+406,6.766666667,pose2_to_pose3_retreat,0.580743512118,0.0100018098654,1.07004098755,0.551315232284,0.0186766395375,1.06967877213
+407,6.783333333,pose2_to_pose3_retreat,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788

Part2/Obstacle_avoidance/ball_0030_15/position_12/depth_05/fem_node.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18d35d6417586610f5d8bb355453b7d659f7ccc8bd06bcf18283bca317f07db5
+size 26027214

Part2/Obstacle_avoidance/ball_0030_15/position_12/depth_05/simulation_data.csv

@@ -0,0 +1,411 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+1,0.016666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+2,0.033333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+3,0.050000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+4,0.066666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+5,0.083333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+6,0.100000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+7,0.116666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+8,0.133333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+9,0.150000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+10,0.166666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+11,0.183333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+12,0.200000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+13,0.216666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+14,0.233333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+15,0.250000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+16,0.266666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+17,0.283333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+18,0.300000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+19,0.316666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+20,0.333333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+21,0.350000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+22,0.366666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+23,0.383333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+24,0.400000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+25,0.416666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+26,0.433333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+27,0.450000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+28,0.466666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+29,0.483333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+30,0.500000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+31,0.516666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+32,0.533333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+33,0.550000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+34,0.566666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+35,0.583333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+36,0.600000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+37,0.616666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+38,0.633333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+39,0.650000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+40,0.666666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+41,0.683333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+42,0.700000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+43,0.716666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+44,0.733333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+45,0.750000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+46,0.766666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+47,0.783333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+48,0.800000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+49,0.816666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+50,0.833333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+51,0.850000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+52,0.866666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+53,0.883333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+54,0.900000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+55,0.916666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+56,0.933333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+57,0.950000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+58,0.966666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+59,0.983333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+60,1.000000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+61,1.016666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+62,1.033333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+63,1.050000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+64,1.066666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+65,1.083333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+66,1.100000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+67,1.116666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+68,1.133333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+69,1.150000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+70,1.166666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+71,1.183333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+72,1.200000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+73,1.216666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+74,1.233333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+75,1.250000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+76,1.266666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+77,1.283333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+78,1.300000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+79,1.316666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+80,1.333333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+81,1.350000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+82,1.366666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+83,1.383333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+84,1.400000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+85,1.416666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+86,1.433333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+87,1.450000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+88,1.466666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+89,1.483333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+90,1.500000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+91,1.516666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+92,1.533333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+93,1.550000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+94,1.566666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+95,1.583333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+96,1.600000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+97,1.616666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+98,1.633333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+99,1.650000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+100,1.666666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+101,1.683333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+102,1.700000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+103,1.716666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+104,1.733333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+105,1.750000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+106,1.766666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+107,1.783333333,pose1_to_pose2_press,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+108,1.800000000,pose1_to_pose2_press,0.580743557318,0.0100018739365,1.07004096967,0.5513152757,0.0186766976829,1.06967875731
+109,1.816666667,pose1_to_pose2_press,0.5807435578,0.0100019043523,1.07004095449,0.551315275574,0.0186767261689,1.06967874529
+110,1.833333333,pose1_to_pose2_press,0.580743557895,0.0100019103402,1.07004095151,0.55131527555,0.0186767317769,1.06967874292
+111,1.850000000,pose1_to_pose2_press,0.580743653362,0.0100018897553,1.07004092215,0.551315371472,0.0186767128262,1.0696787157
+112,1.866666667,pose1_to_pose2_press,0.580743849468,0.0100018319891,1.07004086946,0.551315568823,0.0186766594,1.0696786658
+113,1.883333333,pose1_to_pose2_press,0.58074403508,0.0100017773142,1.0700408196,0.551315755613,0.0186766088328,1.06967861858
+114,1.900000000,pose1_to_pose2_press,0.58074424905,0.0100017674275,1.07004082877,0.55131596961,0.0186765989971,1.06967862672
+115,1.916666667,pose1_to_pose2_press,0.580745559845,0.0100018251638,1.07004096804,0.551317278483,0.0186766497341,1.0696787546
+116,1.933333333,pose1_to_pose2_press,0.580750661617,0.0100018321786,1.07004072503,0.551322380185,0.0186766569831,1.06967852285
+117,1.950000000,pose1_to_pose2_press,0.580761439812,0.0100018358356,1.07004094268,0.55133315917,0.0186766634873,1.0696787444
+118,1.966666667,pose1_to_pose2_press,0.580782415676,0.0100018537241,1.07004104316,0.551354136299,0.0186766854755,1.06967884029
+119,1.983333333,pose1_to_pose2_press,0.580813702818,0.0100018231165,1.07004062752,0.55138542346,0.0186766548264,1.06967842205
+120,2.000000000,pose1_to_pose2_press,0.580856609824,0.01000168305,1.07004068747,0.551428330787,0.0186765159524,1.06967848441
+121,2.016666667,pose1_to_pose2_press,0.580909032463,0.0100017912907,1.07004096965,0.551480753373,0.0186766236213,1.06967875706
+122,2.033333333,pose1_to_pose2_press,0.580970334677,0.0100017684032,1.07004085022,0.55154205833,0.0186766104168,1.06967864672
+123,2.050000000,pose1_to_pose2_press,0.581038578323,0.010001927819,1.07004104043,0.551610298219,0.0186767568347,1.06967883081
+124,2.066666667,pose1_to_pose2_press,0.581113808268,0.0100018794549,1.07004084099,0.551685525834,0.0186767004614,1.06967862885
+125,2.083333333,pose1_to_pose2_press,0.58119964899,0.0100017963959,1.07004074092,0.551771369748,0.0186766283146,1.06967853066
+126,2.100000000,pose1_to_pose2_press,0.58129695948,0.0100019013712,1.07004083628,0.551868678962,0.0186767290286,1.06967862756
+127,2.116666667,pose1_to_pose2_press,0.581408820496,0.0100018819629,1.07004059806,0.551980538963,0.01867670628,1.0696783919
+128,2.133333333,pose1_to_pose2_press,0.581536159255,0.0100017986409,1.0700411338,0.552107879417,0.0186766286503,1.06967892618
+129,2.150000000,pose1_to_pose2_press,0.581680573007,0.0100019472926,1.07004104366,0.552252292158,0.0186767742874,1.06967884594
+130,2.166666667,pose1_to_pose2_press,0.581839260378,0.0100018703832,1.07004073934,0.55241097982,0.0186766983431,1.06967854106
+131,2.183333333,pose1_to_pose2_press,0.58201143021,0.0100018835218,1.07004087142,0.552583149232,0.0186767098371,1.0696786678
+132,2.200000000,pose1_to_pose2_press,0.582196375445,0.0100018627612,1.07004094998,0.552768094464,0.0186766889077,1.06967874246
+133,2.216666667,pose1_to_pose2_press,0.582395031741,0.0100018858951,1.07004092792,0.552966750692,0.0186767119928,1.06967872478
+134,2.233333333,pose1_to_pose2_press,0.582611488614,0.0100019146369,1.07004084303,0.55318320809,0.0186767428526,1.0696786479
+135,2.250000000,pose1_to_pose2_press,0.58284997041,0.0100018821253,1.07004083099,0.55342168997,0.0186767105277,1.06967863338
+136,2.266666667,pose1_to_pose2_press,0.583112274113,0.0100018280369,1.07004102832,0.553683993104,0.018676654014,1.06967881892
+137,2.283333333,pose1_to_pose2_press,0.583399900666,0.0100018327304,1.07004107466,0.553971621759,0.018676666041,1.06967887005
+138,2.300000000,pose1_to_pose2_press,0.58371046188,0.0100019540362,1.07004070357,0.554282180595,0.0186767795994,1.06967850655
+139,2.316666667,pose1_to_pose2_press,0.584043916927,0.0100018522692,1.07004089879,0.554615636072,0.0186766792493,1.06967870065
+140,2.333333333,pose1_to_pose2_press,0.584397110869,0.0100020856985,1.07004096083,0.554968826793,0.0186769011392,1.06967874807
+141,2.350000000,pose1_to_pose2_press,0.584770573856,0.0100019016373,1.07004071066,0.555342293029,0.018676728433,1.06967850582
+142,2.366666667,pose1_to_pose2_press,0.585164869171,0.01000180037,1.07004093027,0.555736590771,0.0186766353951,1.06967872529
+143,2.383333333,pose1_to_pose2_press,0.585579972186,0.0100019226643,1.07004106258,0.556151691571,0.0186767500388,1.06967885428
+144,2.400000000,pose1_to_pose2_press,0.586014427964,0.0100018560858,1.07004088131,0.556586147301,0.0186766832139,1.06967867094
+145,2.416666667,pose1_to_pose2_press,0.586466013052,0.0100018670458,1.07004063235,0.557037731591,0.0186766917226,1.06967842811
+146,2.433333333,pose1_to_pose2_press,0.586934967111,0.0100018721073,1.07004083223,0.557506685963,0.0186766976871,1.0696786241
+147,2.450000000,pose1_to_pose2_press,0.587430571771,0.0100018342184,1.07004103325,0.558002292114,0.0186766647999,1.06967882366
+148,2.466666667,pose1_to_pose2_press,0.587959290774,0.0100018427522,1.07004088078,0.558531010547,0.0186766714763,1.06967867302
+149,2.483333333,pose1_to_pose2_press,0.588519915394,0.0100017919461,1.07004063517,0.559091635096,0.0186766205809,1.06967843105
+150,2.500000000,pose1_to_pose2_press,0.589110231002,0.0100017758571,1.07004085354,0.559681951132,0.0186766060343,1.06967865152
+151,2.516666667,pose1_to_pose2_press,0.589723216791,0.0100018542325,1.07004105475,0.560294937454,0.0186766862174,1.06967885272
+152,2.533333333,pose1_to_pose2_press,0.590345156187,0.0100018954691,1.0700409226,0.560916876363,0.018676725841,1.06967872141
+153,2.550000000,pose1_to_pose2_press,0.590968894153,0.0100018804956,1.07004089038,0.561540612675,0.0186767051489,1.06967868663
+154,2.566666667,pose1_to_pose2_press,0.591606127095,0.0100018185338,1.07004089932,0.56217784741,0.0186766490575,1.06967869043
+155,2.583333333,pose1_to_pose2_press,0.59226256388,0.0100019378966,1.0700410407,0.562834283251,0.0186767651177,1.06967882936
+156,2.600000000,pose1_to_pose2_press,0.592945439767,0.0100020203288,1.07004083113,0.563517157101,0.0186768406291,1.0696786195
+157,2.616666667,pose1_to_pose2_press,0.593651265962,0.0100018509821,1.0700407223,0.564222984475,0.0186766752402,1.0696785097
+158,2.633333333,pose1_to_pose2_press,0.594372189273,0.0100019249715,1.07004066968,0.564943908131,0.0186767509015,1.06967846913
+159,2.650000000,pose1_to_pose2_press,0.59510697156,0.0100018893857,1.07004089075,0.565678691269,0.0186767184672,1.06967869646
+160,2.666666667,pose1_to_pose2_press,0.595860361404,0.0100018496203,1.07004072788,0.566432078771,0.0186766701646,1.06967851945
+161,2.683333333,pose1_to_pose2_press,0.596630391802,0.0100019124642,1.07004081932,0.567202111682,0.0186767415482,1.06967861119
+162,2.700000000,pose1_to_pose2_press,0.597419170012,0.0100018983287,1.07004094085,0.567990889488,0.0186767259923,1.06967873159
+163,2.716666667,pose1_to_pose2_press,0.598224295796,0.0100019140578,1.07004093654,0.568796015929,0.0186767441272,1.06967873151
+164,2.733333333,pose1_to_pose2_press,0.599036665151,0.0100019507783,1.07004093221,0.569608384288,0.0186767775376,1.0696787288
+165,2.750000000,pose1_to_pose2_press,0.599853903987,0.0100019358415,1.07004083258,0.570425623212,0.0186767630685,1.06967863332
+166,2.766666667,pose1_to_pose2_press,0.600672679894,0.0100018421976,1.07004083833,0.5712444003,0.0186766730449,1.06967862981
+167,2.783333333,pose1_to_pose2_press,0.60149269151,0.0100018460452,1.07004091921,0.57206441137,0.0186766748846,1.06967870695
+168,2.800000000,pose1_to_pose2_press,0.602319259362,0.0100019008997,1.07004087314,0.572890978289,0.0186767268987,1.0696786687
+169,2.816666667,pose1_to_pose2_press,0.603150084658,0.0100019216832,1.07004086318,0.573721803016,0.0186767458352,1.0696786608
+170,2.833333333,pose1_to_pose2_press,0.603984921577,0.0100019132455,1.07004098616,0.574556640259,0.0186767383914,1.06967878119
+171,2.850000000,pose1_to_pose2_press,0.604818526322,0.0100018722169,1.07004097784,0.57539024592,0.0186767005163,1.06967877404
+172,2.866666667,pose1_to_pose2_press,0.605644508377,0.0100018195314,1.0700408542,0.576216227579,0.018676646381,1.06967864786
+173,2.883333333,pose1_to_pose2_press,0.606486489021,0.0100018104125,1.07004089479,0.577058208993,0.0186766398801,1.06967868873
+174,2.900000000,pose1_to_pose2_press,0.607346634531,0.0100018162107,1.07004072418,0.57791835478,0.0186766465549,1.06967851656
+175,2.916666667,pose1_to_pose2_press,0.608208876218,0.0100017904686,1.07004082592,0.578780597001,0.0186766227661,1.06967862175
+176,2.933333333,pose1_to_pose2_press,0.609070942332,0.0100018747231,1.07004092769,0.579642662009,0.0186767032521,1.06967872319
+177,2.950000000,pose1_to_pose2_press,0.609921254443,0.010001899959,1.07004079439,0.580492974327,0.0186767293467,1.06967859372
+178,2.966666667,pose1_to_pose2_press,0.610750575208,0.0100018549434,1.07004060451,0.581322293253,0.0186766777345,1.06967839529
+179,2.983333333,pose1_to_pose2_press,0.611561228042,0.0100018008415,1.07004087642,0.582132948233,0.018676631448,1.06967868012
+180,3.000000000,pose1_to_pose2_press,0.612361838365,0.0100020192223,1.07004105705,0.582933554839,0.0186768367657,1.06967884994
+181,3.016666667,pose1_to_pose2_press,0.613161517663,0.0100019263714,1.07004095064,0.583733235763,0.018676749667,1.0696787492
+182,3.033333333,pose1_to_pose2_press,0.613981158413,0.0100018449409,1.07004093549,0.584552878035,0.0186766732576,1.06967873077
+183,3.050000000,pose1_to_pose2_press,0.614802150353,0.0100018575121,1.07004076303,0.585373872254,0.0186766935143,1.06967855722
+184,3.066666667,pose1_to_pose2_press,0.615608030057,0.0100018279623,1.07004097221,0.586179750296,0.0186766581844,1.06967876308
+185,3.083333333,pose1_to_pose2_press,0.616385795681,0.010001885064,1.07004100021,0.586957515564,0.0186767140465,1.06967879048
+186,3.100000000,pose1_to_pose2_press,0.617130338096,0.0100018596492,1.07004088673,0.587702058703,0.0186766911087,1.06967867752
+187,3.116666667,pose1_to_pose2_press,0.617836821632,0.0100017626787,1.07004081296,0.588408542383,0.0186765948982,1.06967861027
+188,3.133333333,pose1_to_pose2_press,0.618517874822,0.010001775107,1.07004082768,0.589089595119,0.0186766061144,1.06967863267
+189,3.150000000,pose1_to_pose2_press,0.619197381245,0.0100018450731,1.07004081618,0.589769100515,0.0186766724342,1.06967861739
+190,3.166666667,pose1_to_pose2_press,0.619881595657,0.0100018719895,1.07004076161,0.590453314195,0.0186766963468,1.06967855083
+191,3.183333333,pose1_to_pose2_press,0.620570220041,0.0100019030352,1.07004092383,0.591141939565,0.0186767307092,1.06967871242
+192,3.200000000,pose1_to_pose2_press,0.621248961663,0.0100018137936,1.07004100877,0.591820681251,0.0186766417776,1.06967879983
+193,3.216666667,pose1_to_pose2_press,0.621908416628,0.0100019073679,1.07004086188,0.592480135107,0.0186767317127,1.06967865562
+194,3.233333333,pose1_to_pose2_press,0.622527522462,0.0100018025611,1.07004093286,0.593099242642,0.0186766326342,1.06967872309
+195,3.250000000,pose1_to_pose2_press,0.623110788201,0.0100017535501,1.07004080799,0.593682509061,0.0186765861421,1.06967860006
+196,3.266666667,pose1_to_pose2_press,0.623659564444,0.0100018234171,1.07004070888,0.594231284346,0.0186766529856,1.06967850299
+197,3.283333333,pose1_to_pose2_press,0.624183468101,0.0100019406534,1.07004081145,0.59475518666,0.0186767658633,1.06967860633
+198,3.300000000,pose1_to_pose2_press,0.624683000661,0.0100020079854,1.0700406762,0.595254716659,0.0186768249376,1.0696784779
+199,3.316666667,pose1_to_pose2_press,0.625158156901,0.0100019029619,1.07004058826,0.595729874069,0.0186767238345,1.06967838465
+200,3.333333333,pose1_to_pose2_press,0.625610994221,0.0100017858428,1.07004078268,0.596182713622,0.0186766142202,1.06967857359
+201,3.350000000,pose1_to_pose2_press,0.626046588015,0.0100017700869,1.07004091805,0.596618307961,0.0186766004911,1.06967870932
+202,3.366666667,pose1_to_pose2_press,0.62647040791,0.0100017199699,1.07004079535,0.59704212868,0.0186765535564,1.06967859171
+203,3.383333333,pose1_to_pose2_press,0.626883872345,0.0100017920637,1.07004074651,0.597455592032,0.0186766222802,1.06967854658
+204,3.400000000,pose1_to_pose2_press,0.627284724804,0.0100018175,1.07004086931,0.597856443952,0.0186766459315,1.06967866699
+205,3.416666667,pose1_to_pose2_press,0.627669564272,0.0100017730503,1.07004075379,0.598241283669,0.01867660238,1.06967854893
+206,3.433333333,pose1_to_pose2_press,0.628021994791,0.0100018774438,1.07004084721,0.598593713189,0.0186767036247,1.06967864554
+207,3.450000000,pose1_to_pose2_press,0.628342670065,0.0100019799674,1.07004099644,0.598914387757,0.0186768040232,1.06967879854
+208,3.466666667,pose1_to_pose2_press,0.628630728069,0.0100019587725,1.07004078391,0.599202445926,0.0186767835787,1.06967858696
+209,3.483333333,pose1_to_pose2_press,0.628893331925,0.0100018851442,1.07004077186,0.599465051035,0.0186767141842,1.06967857213
+210,3.500000000,pose1_to_pose2_press,0.629132275304,0.0100019091519,1.07004072952,0.599703994754,0.0186767389762,1.06967851866
+211,3.516666667,pose1_to_pose2_press,0.629360208723,0.0100019599739,1.07004093417,0.599931925114,0.0186767797268,1.06967872848
+212,3.533333333,pose1_to_pose2_press,0.629577417697,0.010001816073,1.07004104733,0.60014913668,0.0186766447794,1.06967884324
+213,3.550000000,pose1_to_pose2_press,0.629779767445,0.0100018199971,1.07004090958,0.600351487399,0.018676651728,1.06967869737
+214,3.566666667,pose1_to_pose2_press,0.629967744187,0.0100018953467,1.07004090295,0.600539463562,0.0186767255364,1.06967869903
+215,3.583333333,pose1_to_pose2_press,0.630140157887,0.0100019199131,1.0700409353,0.600711875409,0.0186767438523,1.06967873078
+216,3.600000000,pose1_to_pose2_press,0.630294327504,0.0100018402604,1.070040866,0.600866045486,0.0186766657404,1.06967866004
+217,3.616666667,pose1_to_pose2_press,0.630429905813,0.010001872874,1.07004089953,0.601001624519,0.0186767008132,1.06967869215
+218,3.633333333,pose1_to_pose2_press,0.630549878879,0.0100019085445,1.07004087997,0.601121597762,0.018676737275,1.06967867572
+219,3.650000000,pose1_to_pose2_press,0.630655126856,0.0100018894307,1.07004072785,0.60122684576,0.0186767186348,1.06967853218
+220,3.666666667,pose1_to_pose2_press,0.630745171671,0.0100019322081,1.07004071983,0.601316890034,0.0186767596327,1.0696785248
+221,3.683333333,pose1_to_pose2_press,0.630823610677,0.0100020057938,1.07004094479,0.601395327953,0.0186768289745,1.06967873559
+222,3.700000000,pose1_to_pose2_press,0.630891647827,0.0100020253016,1.07004086034,0.601463363393,0.0186768425526,1.06967864693
+223,3.716666667,pose1_to_pose2_press,0.630950411417,0.0100017442805,1.07004070501,0.601522130986,0.0186765754263,1.06967850126
+224,3.733333333,pose1_to_pose2_press,0.631000396009,0.0100018518487,1.07004089058,0.601572116132,0.0186766848519,1.06967868614
+225,3.750000000,pose1_to_pose2_press,0.631042887813,0.0100018849239,1.07004104786,0.601614608219,0.018676718711,1.06967883888
+226,3.766666667,pose1_to_pose2_press,0.631078431659,0.0100018993264,1.07004086928,0.601650150927,0.0186767293953,1.06967866317
+227,3.783333333,pose1_to_pose2_press,0.631106967768,0.010001961878,1.07004086828,0.60167868526,0.0186767859898,1.06967866225
+228,3.800000000,pose1_to_pose2_press,0.63112993371,0.0100019466175,1.07004099827,0.601701651114,0.018676770345,1.06967878954
+229,3.816666667,pose1_to_pose2_press,0.631147610593,0.0100018017175,1.0700407852,0.601719330082,0.0186766326986,1.06967858252
+230,3.833333333,pose1_to_pose2_press,0.631161538188,0.010001845093,1.07004067174,0.601733258639,0.0186766796912,1.0696784774
+231,3.850000000,pose1_to_pose2_press,0.631171866274,0.010001768977,1.07004095225,0.60174358703,0.0186766040262,1.06967874266
+232,3.866666667,pose1_to_pose2_press,0.631178489598,0.0100017788084,1.07004103773,0.601750209663,0.0186766117915,1.06967883249
+233,3.883333333,pose1_to_pose2_press,0.631182581642,0.0100017872059,1.0700408028,0.601754301888,0.0186766209056,1.06967860073
+234,3.900000000,pose1_to_pose2_press,0.631184743055,0.010001791504,1.07004058356,0.601756463615,0.0186766262884,1.06967838312
+235,3.916666667,pose1_to_pose2_press,0.631185782894,0.0100017690864,1.07004068483,0.601757503543,0.0186766040794,1.0696784821
+236,3.933333333,pose1_to_pose2_press,0.631185993268,0.0100017636255,1.07004071313,0.601757713934,0.0186765986489,1.06967850983
+237,3.950000000,pose1_to_pose2_press,0.631186342611,0.0100017545573,1.07004076012,0.601758063303,0.0186765896311,1.06967855586
+238,3.966666667,pose1_to_pose2_press,0.631186860313,0.010001741119,1.07004082977,0.601758581044,0.0186765762675,1.06967862409
+239,3.983333333,pose1_to_pose2_press,0.631187464372,0.0100017254389,1.07004091103,0.601759185149,0.0186765606746,1.06967870369
+240,4.000000000,pose1_to_pose2_press,0.631188097492,0.010001725994,1.07004091629,0.601759818064,0.0186765605994,1.06967871045
+241,4.016666667,pose1_to_pose2_press,0.63118875877,0.0100017429258,1.07004084487,0.601760478885,0.0186765761781,1.06967864372
+242,4.033333333,pose1_to_pose2_press,0.631189035059,0.0100017500001,1.07004081503,0.601760754982,0.0186765826871,1.06967861584
+243,4.050000000,pose1_to_pose2_press,0.631189107012,0.0100017518424,1.07004080726,0.601760826886,0.0186765843822,1.06967860858
+244,4.066666667,pose1_to_pose2_press,0.631189397614,0.0100017836642,1.07004087514,0.601761117203,0.0186766151115,1.06967867324
+245,4.083333333,pose1_to_pose2_press,0.631189647075,0.0100018338159,1.07004102639,0.601761366339,0.0186766638591,1.06967881679
+246,4.100000000,pose1_to_pose2_press,0.631189727123,0.0100018499089,1.07004107492,0.601761446283,0.0186766795016,1.06967886285
+247,4.116666667,pose1_to_pose2_press,0.631189844487,0.0100018740012,1.07004115934,0.601761563222,0.0186767020167,1.0696789441
+248,4.133333333,pose1_to_pose2_press,0.631189976366,0.0100019551804,1.07004093027,0.601761694684,0.0186767823306,1.06967872867
+249,4.150000000,pose2_hold,0.631189976366,0.0100019551804,1.07004093027,0.601761694686,0.0186767823275,1.06967872866
+250,4.166666667,pose2_hold,0.631189976366,0.0100019551804,1.07004093027,0.601761694683,0.0186767823311,1.06967872866
+251,4.183333333,pose2_hold,0.631189976366,0.0100019551804,1.07004093027,0.601761694683,0.0186767823312,1.06967872866
+252,4.200000000,pose2_hold,0.631189976366,0.0100019551804,1.07004093027,0.601761694683,0.0186767823311,1.06967872866
+253,4.216666667,pose2_hold,0.631189976366,0.0100019551804,1.07004093027,0.601761694683,0.0186767823314,1.06967872866
+254,4.233333333,pose2_hold,0.631189976366,0.0100019551804,1.07004093027,0.601761694683,0.0186767823305,1.06967872866
+255,4.250000000,pose2_hold,0.631189976366,0.0100019551804,1.07004093027,0.601761694683,0.0186767823303,1.06967872866
+256,4.266666667,pose2_hold,0.631189976366,0.0100019551804,1.07004093027,0.601761694683,0.0186767823305,1.06967872866
+257,4.283333333,pose2_hold,0.631189976366,0.0100019551804,1.07004093027,0.601761694682,0.0186767823313,1.06967872867
+258,4.300000000,pose2_hold,0.631189976366,0.0100019551804,1.07004093027,0.601761694682,0.0186767823316,1.06967872867
+259,4.316666667,pose2_hold,0.631189976366,0.0100019551804,1.07004093027,0.601761694681,0.0186767823318,1.06967872867
+260,4.333333333,pose2_hold,0.631189976366,0.0100019551804,1.07004093027,0.601761694681,0.0186767823321,1.06967872866
+261,4.350000000,pose2_hold,0.631189976366,0.0100019551804,1.07004093027,0.601761694681,0.0186767823323,1.06967872866
+262,4.366666667,pose2_hold,0.631189976366,0.0100019551804,1.07004093027,0.601761694681,0.0186767823327,1.06967872866
+263,4.383333333,pose2_hold,0.631189976366,0.0100019551804,1.07004093027,0.60176169468,0.0186767823328,1.06967872866
+264,4.400000000,pose2_hold,0.631189976366,0.0100019551804,1.07004093027,0.60176169468,0.0186767823328,1.06967872866
+265,4.416666667,pose2_to_pose3_retreat,0.631189976909,0.0100019180476,1.07004085433,0.601761695505,0.0186767457128,1.06967864203
+266,4.433333333,pose2_to_pose3_retreat,0.631189868156,0.0100018530486,1.07004095321,0.601761586963,0.0186766814729,1.06967874215
+267,4.450000000,pose2_to_pose3_retreat,0.631189755232,0.0100018683594,1.07004096668,0.601761474357,0.0186766978565,1.06967875568
+268,4.466666667,pose2_to_pose3_retreat,0.63118961323,0.0100018978903,1.07004097029,0.601761332755,0.0186767287307,1.0696787592
+269,4.483333333,pose2_to_pose3_retreat,0.631189370511,0.0100018986066,1.07004091911,0.601761090068,0.0186767295445,1.06967870802
+270,4.500000000,pose2_to_pose3_retreat,0.631189222925,0.0100018990422,1.07004088798,0.601760942502,0.0186767300393,1.06967867689
+271,4.516666667,pose2_to_pose3_retreat,0.631189103819,0.0100018993937,1.07004086287,0.601760823411,0.0186767304386,1.06967865178
+272,4.533333333,pose2_to_pose3_retreat,0.631188255804,0.0100018822015,1.07004073889,0.601759975597,0.0186767139402,1.06967852888
+273,4.550000000,pose2_to_pose3_retreat,0.631185778559,0.0100017156879,1.07004078632,0.601757499355,0.0186765511996,1.06967858519
+274,4.566666667,pose2_to_pose3_retreat,0.631178419458,0.0100017114627,1.07004070583,0.601750139579,0.0186765445268,1.06967850035
+275,4.583333333,pose2_to_pose3_retreat,0.631164430211,0.0100017563642,1.07004077702,0.601736151738,0.0186765946638,1.06967858055
+276,4.600000000,pose2_to_pose3_retreat,0.631139433892,0.0100018480542,1.07004080732,0.601711153191,0.0186766786036,1.06967860812
+277,4.616666667,pose2_to_pose3_retreat,0.631103169769,0.0100019423402,1.0700407715,0.601674887836,0.0186767686973,1.06967856933
+278,4.633333333,pose2_to_pose3_retreat,0.631054383214,0.0100017853132,1.07004073584,0.601626103115,0.0186766177157,1.06967852684
+279,4.650000000,pose2_to_pose3_retreat,0.630995829132,0.0100018263137,1.0700408447,0.601567549943,0.0186766618391,1.06967864281
+280,4.666666667,pose2_to_pose3_retreat,0.630928611317,0.0100017511709,1.07004087378,0.601500331451,0.0186765844163,1.06967867507
+281,4.683333333,pose2_to_pose3_retreat,0.630855146657,0.0100018803855,1.07004081099,0.601426864272,0.0186767050012,1.06967860712
+282,4.700000000,pose2_to_pose3_retreat,0.630775558221,0.0100019419612,1.07004086224,0.601347275356,0.0186767646034,1.06967865258
+283,4.716666667,pose2_to_pose3_retreat,0.630686827902,0.0100018409636,1.07004092406,0.601258547584,0.0186766723484,1.06967871791
+284,4.733333333,pose2_to_pose3_retreat,0.630588179002,0.0100019185526,1.0700406057,0.60115989751,0.0186767460348,1.0696784022
+285,4.750000000,pose2_to_pose3_retreat,0.630476492603,0.0100018406528,1.07004074174,0.601048211581,0.0186766697472,1.06967853949
+286,4.766666667,pose2_to_pose3_retreat,0.630349009341,0.0100018049148,1.0700408594,0.60092072828,0.0186766339678,1.06967866043
+287,4.783333333,pose2_to_pose3_retreat,0.630202404785,0.0100018242377,1.07004085818,0.600774124126,0.0186766544773,1.0696786566
+288,4.800000000,pose2_to_pose3_retreat,0.630036894707,0.0100018574103,1.0700408697,0.600608614549,0.0186766890989,1.06967866379
+289,4.816666667,pose2_to_pose3_retreat,0.629852607331,0.0100018578337,1.07004095263,0.600424326868,0.0186766883856,1.06967874578
+290,4.833333333,pose2_to_pose3_retreat,0.629648636646,0.0100018595608,1.07004091109,0.600220355561,0.0186766877844,1.06967870079
+291,4.850000000,pose2_to_pose3_retreat,0.629427242727,0.0100019684525,1.07004074288,0.599998961035,0.0186767945162,1.06967853241
+292,4.866666667,pose2_to_pose3_retreat,0.629189180506,0.0100019088918,1.07004084221,0.599760899769,0.0186767381878,1.0696786339
+293,4.883333333,pose2_to_pose3_retreat,0.628932449713,0.0100016177573,1.07004113753,0.599504173048,0.0186764609622,1.06967893429
+294,4.900000000,pose2_to_pose3_retreat,0.628655724364,0.0100019099706,1.07004109576,0.599227443337,0.0186767380459,1.06967888765
+295,4.916666667,pose2_to_pose3_retreat,0.628360754218,0.0100019599629,1.0700409827,0.598932471925,0.0186767836997,1.06967877597
+296,4.933333333,pose2_to_pose3_retreat,0.628047269647,0.010001895496,1.07004101441,0.598618988517,0.0186767230568,1.06967880761
+297,4.950000000,pose2_to_pose3_retreat,0.627711179084,0.0100019020701,1.07004094141,0.598282898098,0.0186767301558,1.06967873903
+298,4.966666667,pose2_to_pose3_retreat,0.627353439185,0.0100019190067,1.07004071018,0.597925157831,0.0186767458581,1.06967851183
+299,4.983333333,pose2_to_pose3_retreat,0.626970654289,0.0100018612256,1.07004059304,0.597542373994,0.0186766913608,1.06967839101
+300,5.000000000,pose2_to_pose3_retreat,0.62655554421,0.0100019435011,1.07004068929,0.597127263282,0.0186767715006,1.06967849122
+301,5.016666667,pose2_to_pose3_retreat,0.626108264876,0.0100018780089,1.07004085589,0.59667998469,0.0186767077712,1.06967864446
+302,5.033333333,pose2_to_pose3_retreat,0.625632681036,0.0100018039503,1.07004088263,0.596204400528,0.0186766332461,1.06967869019
+303,5.050000000,pose2_to_pose3_retreat,0.625135639947,0.0100019442447,1.07004066983,0.595707357745,0.0186767674432,1.06967847301
+304,5.066666667,pose2_to_pose3_retreat,0.624624776272,0.0100017979045,1.07004093642,0.595196494989,0.0186766233952,1.06967872379
+305,5.083333333,pose2_to_pose3_retreat,0.624102422833,0.0100019357365,1.07004104678,0.594674141541,0.0186767611829,1.06967883756
+306,5.100000000,pose2_to_pose3_retreat,0.623566684473,0.0100018251371,1.07004091017,0.594138404909,0.0186766563516,1.06967870344
+307,5.116666667,pose2_to_pose3_retreat,0.623008136262,0.0100017531457,1.07004096814,0.593579857955,0.0186765883599,1.06967875825
+308,5.133333333,pose2_to_pose3_retreat,0.622423265032,0.0100018123107,1.07004096737,0.592994986144,0.018676645599,1.06967876101
+309,5.150000000,pose2_to_pose3_retreat,0.621804129569,0.0100018426056,1.07004084998,0.592375849387,0.018676671628,1.06967864854
+310,5.166666667,pose2_to_pose3_retreat,0.621158131806,0.0100017935102,1.070040934,0.591729850933,0.0186766198506,1.06967872448
+311,5.183333333,pose2_to_pose3_retreat,0.620488624376,0.0100017982536,1.07004088234,0.591060343327,0.0186766240592,1.06967867422
+312,5.200000000,pose2_to_pose3_retreat,0.619794388635,0.0100017865359,1.07004104296,0.590366110266,0.0186766217095,1.06967884145
+313,5.216666667,pose2_to_pose3_retreat,0.619073179224,0.010001855878,1.0700410904,0.589644898978,0.0186766844264,1.06967888272
+314,5.233333333,pose2_to_pose3_retreat,0.618323448262,0.0100019544568,1.07004113197,0.588895167005,0.0186767799968,1.06967893447
+315,5.250000000,pose2_to_pose3_retreat,0.61755148973,0.0100018174803,1.07004080198,0.588123209362,0.0186766459426,1.06967860218
+316,5.266666667,pose2_to_pose3_retreat,0.616771504919,0.01000194435,1.07004091874,0.587343223125,0.0186767678868,1.06967871682
+317,5.283333333,pose2_to_pose3_retreat,0.615995982142,0.0100018653481,1.07004093505,0.586567701126,0.0186766914605,1.06967873149
+318,5.300000000,pose2_to_pose3_retreat,0.615227247746,0.0100018538923,1.07004095455,0.585798967849,0.0186766837318,1.06967874657
+319,5.316666667,pose2_to_pose3_retreat,0.614455094461,0.0100018083645,1.07004092757,0.585026815099,0.0186766402176,1.06967872592
+320,5.333333333,pose2_to_pose3_retreat,0.613669410626,0.0100018811095,1.07004085777,0.584241130056,0.0186767088595,1.06967865719
+321,5.350000000,pose2_to_pose3_retreat,0.612846449798,0.0100019647995,1.0700408151,0.583418168107,0.0186767886241,1.06967861149
+322,5.366666667,pose2_to_pose3_retreat,0.611987413716,0.0100019592362,1.07004083551,0.582559131949,0.0186767826219,1.06967862752
+323,5.383333333,pose2_to_pose3_retreat,0.611092266866,0.0100019058949,1.07004088124,0.581663985253,0.0186767297873,1.06967867284
+324,5.400000000,pose2_to_pose3_retreat,0.610199790622,0.0100018307915,1.07004091376,0.580771510562,0.0186766603233,1.06967871416
+325,5.416666667,pose2_to_pose3_retreat,0.609325708847,0.010001892686,1.07004092909,0.579897429657,0.0186767250669,1.06967872714
+326,5.433333333,pose2_to_pose3_retreat,0.60846934967,0.0100020337264,1.07004098774,0.579041068098,0.0186768577114,1.06967877717
+327,5.450000000,pose2_to_pose3_retreat,0.607627184183,0.0100019153489,1.07004104217,0.578198904218,0.0186767448848,1.06967883001
+328,5.466666667,pose2_to_pose3_retreat,0.606786001028,0.0100015876522,1.07004053843,0.577357723337,0.0186764255851,1.06967834444
+329,5.483333333,pose2_to_pose3_retreat,0.605928915272,0.0100018963219,1.07004088039,0.576500634388,0.0186767232337,1.06967868164
+330,5.500000000,pose2_to_pose3_retreat,0.605048350225,0.0100017701556,1.07004062411,0.575620069657,0.018676598021,1.06967842251
+331,5.516666667,pose2_to_pose3_retreat,0.604153518088,0.0100019281542,1.07004074606,0.574725236744,0.0186767534796,1.06967854668
+332,5.533333333,pose2_to_pose3_retreat,0.603250570353,0.0100019417234,1.07004070361,0.573822288916,0.0186767667633,1.06967850483
+333,5.550000000,pose2_to_pose3_retreat,0.602376829584,0.0100019072884,1.07004076034,0.572948549343,0.018676736294,1.06967855935
+334,5.566666667,pose2_to_pose3_retreat,0.601528492274,0.0100019759422,1.07004087155,0.572100211941,0.0186768046204,1.0696786702
+335,5.583333333,pose2_to_pose3_retreat,0.600701818416,0.0100019160035,1.07004087006,0.571273538002,0.0186767443333,1.06967866699
+336,5.600000000,pose2_to_pose3_retreat,0.599887919005,0.0100018121623,1.07004087658,0.570459639323,0.0186766427759,1.06967866868
+337,5.616666667,pose2_to_pose3_retreat,0.599079713861,0.0100018448983,1.0700410031,0.569651434295,0.0186766757558,1.0696787916
+338,5.633333333,pose2_to_pose3_retreat,0.598265069507,0.0100018331307,1.07004099532,0.568836788898,0.0186766605324,1.06967878582
+339,5.650000000,pose2_to_pose3_retreat,0.597445810752,0.0100017344235,1.07004060744,0.568017531093,0.0186765651411,1.06967840017
+340,5.666666667,pose2_to_pose3_retreat,0.596625505283,0.0100018658473,1.07004072001,0.567197225072,0.018676694743,1.06967851398
+341,5.683333333,pose2_to_pose3_retreat,0.595817041712,0.01000192188,1.07004090767,0.566388761664,0.0186767516951,1.0696787104
+342,5.700000000,pose2_to_pose3_retreat,0.59502988127,0.0100017927907,1.0700407838,0.565601601812,0.0186766247199,1.06967858921
+343,5.716666667,pose2_to_pose3_retreat,0.59426671456,0.0100018416699,1.07004083675,0.564838434565,0.0186766712064,1.06967862863
+344,5.733333333,pose2_to_pose3_retreat,0.593530031057,0.0100018214212,1.07004074994,0.564101750918,0.0186766504087,1.06967854032
+345,5.750000000,pose2_to_pose3_retreat,0.592815422368,0.0100018085203,1.07004063177,0.563387142057,0.0186766369227,1.06967842218
+346,5.766666667,pose2_to_pose3_retreat,0.592120517474,0.0100018570848,1.07004066112,0.56269223624,0.018676682435,1.06967845343
+347,5.783333333,pose2_to_pose3_retreat,0.591442512265,0.0100018729539,1.0700408007,0.562014231492,0.0186767002234,1.06967860155
+348,5.800000000,pose2_to_pose3_retreat,0.590779065407,0.0100018757622,1.07004086109,0.56135078497,0.0186767041972,1.06967866251
+349,5.816666667,pose2_to_pose3_retreat,0.590133366866,0.0100018431893,1.07004083457,0.560705087047,0.0186766733555,1.06967862724
+350,5.833333333,pose2_to_pose3_retreat,0.589512220729,0.0100018102646,1.07004076435,0.56008394203,0.0186766441859,1.06967855605
+351,5.850000000,pose2_to_pose3_retreat,0.588916406953,0.010001955017,1.07004060759,0.559488125342,0.0186767791413,1.06967840125
+352,5.866666667,pose2_to_pose3_retreat,0.588344860805,0.0100020059922,1.07004077287,0.558916577485,0.0186768240036,1.06967855896
+353,5.883333333,pose2_to_pose3_retreat,0.587789811614,0.0100020493056,1.07004109021,0.558361529352,0.0186768709213,1.06967887668
+354,5.900000000,pose2_to_pose3_retreat,0.587246812976,0.0100019192977,1.07004082164,0.557818531361,0.0186767435817,1.06967861946
+355,5.916666667,pose2_to_pose3_retreat,0.58672385227,0.0100017870945,1.0700409351,0.557295573049,0.0186766192712,1.06967872735
+356,5.933333333,pose2_to_pose3_retreat,0.586225962803,0.0100016984427,1.07004083076,0.556797684182,0.0186765327927,1.06967862631
+357,5.950000000,pose2_to_pose3_retreat,0.585760831163,0.0100017919143,1.07004082777,0.556332551862,0.0186766237639,1.06967862046
+358,5.966666667,pose2_to_pose3_retreat,0.585327447214,0.0100019243122,1.07004070667,0.555899166067,0.0186767503058,1.06967850904
+359,5.983333333,pose2_to_pose3_retreat,0.584925378683,0.0100018775777,1.07004067662,0.555497098099,0.0186767053977,1.06967847696
+360,6.000000000,pose2_to_pose3_retreat,0.584543711014,0.0100017615938,1.07004074625,0.555115432584,0.0186765965848,1.06967854333
+361,6.016666667,pose2_to_pose3_retreat,0.584178749306,0.0100016913334,1.0700408167,0.554750471922,0.0186765298046,1.06967861225
+362,6.033333333,pose2_to_pose3_retreat,0.583830982193,0.0100017604556,1.07004083781,0.55440270309,0.01867659288,1.06967862863
+363,6.050000000,pose2_to_pose3_retreat,0.583501843559,0.0100019676095,1.07004085747,0.554073561538,0.0186767902226,1.06967865033
+364,6.066666667,pose2_to_pose3_retreat,0.583195875211,0.0100019254826,1.07004095388,0.553767593351,0.0186767488019,1.06967875003
+365,6.083333333,pose2_to_pose3_retreat,0.582912962603,0.0100017748945,1.07004105324,0.553484683478,0.0186766073742,1.06967884673
+366,6.100000000,pose2_to_pose3_retreat,0.582655436231,0.0100016423793,1.07004107624,0.553227158563,0.0186764796439,1.06967886561
+367,6.116666667,pose2_to_pose3_retreat,0.582419342496,0.0100017728543,1.07004076246,0.552991061787,0.0186765996907,1.06967854951
+368,6.133333333,pose2_to_pose3_retreat,0.582204749159,0.0100018311909,1.07004079353,0.552776469694,0.0186766626779,1.06967859105
+369,6.150000000,pose2_to_pose3_retreat,0.582011501471,0.0100017441368,1.07004090583,0.552583222298,0.0186765765236,1.06967870107
+370,6.166666667,pose2_to_pose3_retreat,0.581838476382,0.0100018295881,1.07004094153,0.552410197067,0.0186766615096,1.06967873727
+371,6.183333333,pose2_to_pose3_retreat,0.581683395134,0.010001925707,1.07004101228,0.552255114915,0.0186767545005,1.06967880654
+372,6.200000000,pose2_to_pose3_retreat,0.581544027667,0.0100019969192,1.07004102669,0.552115746126,0.0186768211599,1.06967881937
+373,6.216666667,pose2_to_pose3_retreat,0.58141948917,0.010002018961,1.07004088251,0.551991207495,0.0186768427835,1.06967867604
+374,6.233333333,pose2_to_pose3_retreat,0.581305469537,0.0100018595492,1.07004076794,0.551877189917,0.0186766902596,1.06967855973
+375,6.250000000,pose2_to_pose3_retreat,0.581201661937,0.0100018286325,1.07004105029,0.551773381625,0.0186766570397,1.06967884412
+376,6.266666667,pose2_to_pose3_retreat,0.58111061552,0.010001919084,1.07004095164,0.551682333149,0.0186767402915,1.06967874
+377,6.283333333,pose2_to_pose3_retreat,0.581032005618,0.0100018168395,1.07004045827,0.551603726501,0.0186766494384,1.06967825499
+378,6.300000000,pose2_to_pose3_retreat,0.58096651721,0.010001867357,1.07004094385,0.551538235586,0.0186766912314,1.06967873513
+379,6.316666667,pose2_to_pose3_retreat,0.580912839216,0.0100017874496,1.07004082423,0.551484560474,0.0186766213119,1.06967862056
+380,6.333333333,pose2_to_pose3_retreat,0.580871435485,0.0100017452147,1.07004071985,0.551443155441,0.01867657459,1.06967851443
+381,6.350000000,pose2_to_pose3_retreat,0.580837359029,0.0100016967263,1.0700409018,0.551409079171,0.0186765265505,1.06967869205
+382,6.366666667,pose2_to_pose3_retreat,0.580810119822,0.0100017903441,1.07004092254,0.55138183987,0.0186766202603,1.06967872278
+383,6.383333333,pose2_to_pose3_retreat,0.580789792478,0.0100018971953,1.07004092236,0.551361511874,0.018676724877,1.06967872216
+384,6.400000000,pose2_to_pose3_retreat,0.580774636601,0.0100019106963,1.07004100392,0.551346355928,0.0186767378292,1.06967879627
+385,6.416666667,pose2_to_pose3_retreat,0.580763279946,0.0100018486058,1.0700409703,0.551334999541,0.0186766766072,1.06967876169
+386,6.433333333,pose2_to_pose3_retreat,0.580755639558,0.010001792611,1.0700406922,0.551327358915,0.0186766200402,1.06967848886
+387,6.450000000,pose2_to_pose3_retreat,0.580751319724,0.0100017798844,1.07004071025,0.551323040594,0.0186766123525,1.06967850467
+388,6.466666667,pose2_to_pose3_retreat,0.580748243143,0.0100017767976,1.07004083409,0.551319964278,0.0186766100914,1.06967862677
+389,6.483333333,pose2_to_pose3_retreat,0.580746299468,0.0100017821709,1.07004094412,0.551318020333,0.0186766145165,1.06967873592
+390,6.500000000,pose2_to_pose3_retreat,0.58074530532,0.0100018369714,1.07004080551,0.55131702521,0.018676666124,1.06967860004
+391,6.516666667,pose2_to_pose3_retreat,0.580744804317,0.0100018645882,1.07004073566,0.551316523716,0.0186766921316,1.06967853156
+392,6.533333333,pose2_to_pose3_retreat,0.580744754444,0.0100018673373,1.07004072871,0.551316473794,0.0186766947206,1.06967852474
+393,6.550000000,pose2_to_pose3_retreat,0.58074470384,0.0100018701267,1.07004072165,0.551316423141,0.0186766973475,1.06967851782
+394,6.566666667,pose2_to_pose3_retreat,0.580744638292,0.0100018737399,1.07004071252,0.551316357528,0.0186767007502,1.06967850886
+395,6.583333333,pose2_to_pose3_retreat,0.580744522591,0.0100018801177,1.07004069638,0.551316241714,0.0186767067564,1.06967849305
+396,6.600000000,pose2_to_pose3_retreat,0.580744391962,0.0100018837054,1.07004071249,0.551316111069,0.0186767102916,1.06967850919
+397,6.616666667,pose2_to_pose3_retreat,0.580744293736,0.0100018860928,1.07004072755,0.551316012841,0.0186767126712,1.06967852424
+398,6.633333333,pose2_to_pose3_retreat,0.5807442159,0.0100018879846,1.07004073948,0.551315935003,0.0186767145569,1.06967853617
+399,6.650000000,pose2_to_pose3_retreat,0.580744190802,0.0100018885946,1.07004074333,0.551315909905,0.0186767151649,1.06967854002
+400,6.666666667,pose2_to_pose3_retreat,0.580744135752,0.0100018899326,1.07004075177,0.551315854853,0.0186767164985,1.06967854845
+401,6.683333333,pose2_to_pose3_retreat,0.580744096714,0.0100018908814,1.07004075775,0.551315815814,0.0186767174442,1.06967855444
+402,6.700000000,pose2_to_pose3_retreat,0.580743928634,0.0100018949667,1.07004078352,0.55131564773,0.0186767215161,1.0696785802
+403,6.716666667,pose2_to_pose3_retreat,0.580743754532,0.0100018991983,1.07004081021,0.551315473625,0.0186767257338,1.06967860688
+404,6.733333333,pose2_to_pose3_retreat,0.580743705052,0.0100018885353,1.07004083129,0.551315424347,0.018676715715,1.06967862692
+405,6.750000000,pose2_to_pose3_retreat,0.580743696398,0.0100018852408,1.0700408366,0.551315415753,0.0186767126112,1.06967863192
+406,6.766666667,pose2_to_pose3_retreat,0.580743530563,0.0100018221084,1.07004093841,0.551315251068,0.0186766531337,1.06967872785
+407,6.783333333,pose2_to_pose3_retreat,0.580743516051,0.0100018165837,1.07004094732,0.551315236657,0.0186766479289,1.06967873624
+408,6.800000000,pose2_to_pose3_retreat,0.580743500048,0.0100018104913,1.07004095715,0.551315220765,0.0186766421892,1.0696787455
+409,6.816666667,pose2_to_pose3_retreat,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788

Part2/Obstacle_avoidance/ball_0030_17.5/position_01/depth_01/fem_node.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:09f0b5f50afedd145536dca75ab34fb14b79b2b091125899ebaa8a1ec9ca85aa
+size 25472860

Part2/Obstacle_avoidance/ball_0030_17.5/position_01/depth_01/simulation_data.csv

@@ -0,0 +1,402 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+1,0.016666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+2,0.033333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+3,0.050000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+4,0.066666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+5,0.083333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+6,0.100000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+7,0.116666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+8,0.133333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+9,0.150000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+10,0.166666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+11,0.183333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+12,0.200000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+13,0.216666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+14,0.233333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+15,0.250000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+16,0.266666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+17,0.283333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+18,0.300000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+19,0.316666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+20,0.333333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+21,0.350000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+22,0.366666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+23,0.383333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+24,0.400000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+25,0.416666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+26,0.433333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+27,0.450000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+28,0.466666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+29,0.483333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+30,0.500000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+31,0.516666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+32,0.533333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+33,0.550000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+34,0.566666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+35,0.583333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+36,0.600000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+37,0.616666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+38,0.633333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+39,0.650000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+40,0.666666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+41,0.683333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+42,0.700000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+43,0.716666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+44,0.733333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+45,0.750000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+46,0.766666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+47,0.783333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+48,0.800000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+49,0.816666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+50,0.833333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+51,0.850000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+52,0.866666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+53,0.883333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+54,0.900000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+55,0.916666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+56,0.933333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+57,0.950000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+58,0.966666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+59,0.983333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+60,1.000000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+61,1.016666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+62,1.033333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+63,1.050000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+64,1.066666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+65,1.083333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+66,1.100000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+67,1.116666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+68,1.133333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+69,1.150000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+70,1.166666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+71,1.183333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+72,1.200000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+73,1.216666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+74,1.233333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+75,1.250000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+76,1.266666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+77,1.283333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+78,1.300000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+79,1.316666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+80,1.333333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+81,1.350000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+82,1.366666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+83,1.383333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+84,1.400000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+85,1.416666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+86,1.433333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+87,1.450000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+88,1.466666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+89,1.483333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+90,1.500000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+91,1.516666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+92,1.533333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+93,1.550000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+94,1.566666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+95,1.583333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+96,1.600000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+97,1.616666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+98,1.633333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+99,1.650000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+100,1.666666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+101,1.683333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+102,1.700000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+103,1.716666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+104,1.733333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+105,1.750000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+106,1.766666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+107,1.783333333,pose1_to_pose2_press,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+108,1.800000000,pose1_to_pose2_press,0.578252294099,1.34309026121e-06,1.05001169095,0.54882352917,0.00867500958963,1.04966122271
+109,1.816666667,pose1_to_pose2_press,0.578252419352,1.33768148041e-06,1.05001169351,0.548823655116,0.00867500651717,1.04966122477
+110,1.833333333,pose1_to_pose2_press,0.578252566473,1.31520765385e-06,1.05001167271,0.548823803064,0.00867498700394,1.04966120789
+111,1.850000000,pose1_to_pose2_press,0.578252944058,1.27259579311e-06,1.05001166303,0.548824181463,0.00867494731824,1.04966120227
+112,1.866666667,pose1_to_pose2_press,0.578253948069,1.22107436303e-06,1.05001181655,0.548825182286,0.00867488441842,1.0496613419
+113,1.883333333,pose1_to_pose2_press,0.57825628027,1.30421195179e-06,1.05001169921,0.548827513564,0.00867496487107,1.0496612356
+114,1.900000000,pose1_to_pose2_press,0.578261190283,1.20568797704e-06,1.05001153655,0.548832424873,0.00867487103469,1.04966108008
+115,1.916666667,pose1_to_pose2_press,0.578270950989,1.44635710271e-06,1.05001152809,0.548842181971,0.00867509942316,1.04966107056
+116,1.933333333,pose1_to_pose2_press,0.57828602861,1.27688861937e-06,1.05001157275,0.548857261945,0.00867493776583,1.04966111092
+117,1.950000000,pose1_to_pose2_press,0.578306662645,1.19993627136e-06,1.05001168813,0.548877897722,0.00867486652336,1.04966122125
+118,1.966666667,pose1_to_pose2_press,0.578334757608,1.15565836724e-06,1.05001162879,0.54890599408,0.00867482708357,1.04966116451
+119,1.983333333,pose1_to_pose2_press,0.578369941822,1.16038619446e-06,1.05001161097,0.548941177722,0.00867482979622,1.04966114477
+120,2.000000000,pose1_to_pose2_press,0.578413064813,1.20098481784e-06,1.05001167322,0.548984300245,0.00867486889704,1.04966120923
+121,2.016666667,pose1_to_pose2_press,0.57846633752,1.21262048164e-06,1.0500116799,0.54903757231,0.00867487830545,1.04966121464
+122,2.033333333,pose1_to_pose2_press,0.578531969931,1.22637973286e-06,1.0500117207,0.549103204331,0.00867489040184,1.04966124696
+123,2.050000000,pose1_to_pose2_press,0.578612135972,1.20822205326e-06,1.05001168962,0.549183371608,0.00867487672284,1.0496612229
+124,2.066666667,pose1_to_pose2_press,0.578707474811,1.19781312313e-06,1.05001172929,0.549278711776,0.00867487096823,1.049661266
+125,2.083333333,pose1_to_pose2_press,0.578817733896,1.20989498198e-06,1.05001168615,0.549388970178,0.00867488054964,1.04966121844
+126,2.100000000,pose1_to_pose2_press,0.578941812618,1.27742578606e-06,1.05001169529,0.549513047629,0.00867494372767,1.04966122646
+127,2.116666667,pose1_to_pose2_press,0.57908047915,1.27955546768e-06,1.05001173812,0.549651714871,0.00867494838202,1.04966127211
+128,2.133333333,pose1_to_pose2_press,0.579232872845,1.20391718976e-06,1.05001170962,0.549804109038,0.00867487452717,1.04966124807
+129,2.150000000,pose1_to_pose2_press,0.579399731422,1.13369818139e-06,1.05001179108,0.549970967372,0.00867480337818,1.04966132688
+130,2.166666667,pose1_to_pose2_press,0.579586076684,1.17547601953e-06,1.05001176873,0.550157312592,0.00867484487425,1.04966130108
+131,2.183333333,pose1_to_pose2_press,0.579792214466,1.20507621916e-06,1.05001175866,0.550363450401,0.00867487452142,1.04966128981
+132,2.200000000,pose1_to_pose2_press,0.580018739215,1.3103315588e-06,1.05001185668,0.550589975367,0.00867498091984,1.04966139779
+133,2.216666667,pose1_to_pose2_press,0.580263235831,1.45241935184e-06,1.05001176798,0.550834468246,0.0086751101891,1.04966130566
+134,2.233333333,pose1_to_pose2_press,0.580524711062,1.14538274754e-06,1.05001171644,0.551095946311,0.00867481254846,1.04966124861
+135,2.250000000,pose1_to_pose2_press,0.580800956966,1.33982871099e-06,1.05001194177,0.551372190931,0.00867500237371,1.04966146734
+136,2.266666667,pose1_to_pose2_press,0.581092623048,1.20990619856e-06,1.05001164136,0.551663858114,0.00867487600921,1.04966116254
+137,2.283333333,pose1_to_pose2_press,0.581406136219,1.33630242287e-06,1.05001177632,0.55197737101,0.00867500190283,1.0496613081
+138,2.300000000,pose1_to_pose2_press,0.58174484964,1.19699706965e-06,1.05001161663,0.552316083746,0.00867486037164,1.04966115079
+139,2.316666667,pose1_to_pose2_press,0.582116931117,1.07193464447e-06,1.05001167096,0.552688167983,0.00867474444862,1.04966119948
+140,2.333333333,pose1_to_pose2_press,0.582520591955,1.13235819032e-06,1.05001186719,0.553091830017,0.00867480894703,1.04966139612
+141,2.350000000,pose1_to_pose2_press,0.582956916437,1.20596912008e-06,1.05001166089,0.553528151644,0.00867487321448,1.04966119821
+142,2.366666667,pose1_to_pose2_press,0.583414400427,1.27377025285e-06,1.05001152293,0.553985635865,0.00867494206615,1.04966106692
+143,2.383333333,pose1_to_pose2_press,0.583889284219,1.26728705029e-06,1.05001161641,0.554460521018,0.00867494006187,1.04966115681
+144,2.400000000,pose1_to_pose2_press,0.584375932019,1.17558054552e-06,1.05001171382,0.554947169407,0.0086748498197,1.04966124099
+145,2.416666667,pose1_to_pose2_press,0.584875268486,1.22917557226e-06,1.05001169534,0.555446504622,0.00867489930354,1.04966122585
+146,2.433333333,pose1_to_pose2_press,0.585391848578,1.30873681952e-06,1.05001166919,0.555963082898,0.00867497296588,1.04966120621
+147,2.450000000,pose1_to_pose2_press,0.585930726556,1.27302712443e-06,1.05001173861,0.556501960703,0.00867493645749,1.0496612704
+148,2.466666667,pose1_to_pose2_press,0.586493882735,1.30052745395e-06,1.05001173537,0.55706511663,0.00867496313023,1.04966126774
+149,2.483333333,pose1_to_pose2_press,0.58707935206,1.32575858893e-06,1.05001165397,0.557650585013,0.00867498518791,1.04966118688
+150,2.500000000,pose1_to_pose2_press,0.587681643598,1.15800131858e-06,1.05001184682,0.558252879822,0.00867482840617,1.04966137668
+151,2.516666667,pose1_to_pose2_press,0.588290163553,1.22433454166e-06,1.05001147684,0.558861400467,0.00867489732228,1.04966101273
+152,2.533333333,pose1_to_pose2_press,0.588913539771,1.25844224019e-06,1.05001173998,0.559484775177,0.00867492677111,1.04966128717
+153,2.550000000,pose1_to_pose2_press,0.589562633224,1.18657380945e-06,1.05001153667,0.56013386871,0.00867485493861,1.04966107795
+154,2.566666667,pose1_to_pose2_press,0.59023507667,1.23210020115e-06,1.05001153593,0.560806310086,0.00867489340812,1.04966107641
+155,2.583333333,pose1_to_pose2_press,0.590931261971,1.31830817425e-06,1.05001176141,0.561502496194,0.00867498220739,1.04966129829
+156,2.600000000,pose1_to_pose2_press,0.591654325864,1.33611366257e-06,1.05001181129,0.562225558667,0.00867499501285,1.0496613437
+157,2.616666667,pose1_to_pose2_press,0.592391007634,1.31111058691e-06,1.05001170096,0.562962242141,0.00867497600399,1.04966123863
+158,2.633333333,pose1_to_pose2_press,0.593127439141,1.16548055962e-06,1.05001166929,0.563698674628,0.00867483369251,1.04966120677
+159,2.650000000,pose1_to_pose2_press,0.593863526255,1.14862339935e-06,1.05001175511,0.564434761187,0.00867481486552,1.04966129045
+160,2.666666667,pose1_to_pose2_press,0.594599056476,1.37369156755e-06,1.0500118217,0.565170289529,0.00867503326008,1.04966134965
+161,2.683333333,pose1_to_pose2_press,0.595328790186,1.35212057192e-06,1.05001164259,0.565900023699,0.00867501318323,1.04966116897
+162,2.700000000,pose1_to_pose2_press,0.596057540827,1.1518092818e-06,1.05001148358,0.566628776937,0.00867482205487,1.04966101915
+163,2.716666667,pose1_to_pose2_press,0.596813655901,1.13792750753e-06,1.05001152946,0.567384892911,0.00867481145378,1.0496610707
+164,2.733333333,pose1_to_pose2_press,0.597593319629,1.24699854423e-06,1.05001163704,0.568164554835,0.0086749140995,1.04966117071
+165,2.750000000,pose1_to_pose2_press,0.598390905759,1.19631706506e-06,1.05001173952,0.56896214046,0.00867486170978,1.04966127338
+166,2.766666667,pose1_to_pose2_press,0.599204215563,1.23975088119e-06,1.05001157006,0.569775449799,0.00867490380155,1.04966110983
+167,2.783333333,pose1_to_pose2_press,0.600026062684,1.4996264149e-06,1.0500116419,0.570597295368,0.00867515831464,1.04966117931
+168,2.800000000,pose1_to_pose2_press,0.60082268768,1.47197635796e-06,1.05001161352,0.571393920287,0.00867513023743,1.04966114688
+169,2.816666667,pose1_to_pose2_press,0.601598261331,1.14600227186e-06,1.05001182198,0.572169498154,0.00867481845363,1.04966135252
+170,2.833333333,pose1_to_pose2_press,0.602358073359,1.2637817475e-06,1.05001180125,0.572929309806,0.00867493508422,1.04966133508
+171,2.850000000,pose1_to_pose2_press,0.603111646715,1.18596486558e-06,1.05001182272,0.573682884053,0.00867486015695,1.04966135324
+172,2.866666667,pose1_to_pose2_press,0.603864277125,1.31005202764e-06,1.05001165095,0.574435510946,0.0086749728687,1.04966119533
+173,2.883333333,pose1_to_pose2_press,0.604626321836,1.26802675832e-06,1.05001168284,0.575197555616,0.00867493027468,1.04966121659
+174,2.900000000,pose1_to_pose2_press,0.605398059423,1.19842423663e-06,1.05001174239,0.575969294028,0.00867486373103,1.04966128265
+175,2.916666667,pose1_to_pose2_press,0.606160897604,1.2833585275e-06,1.05001159821,0.576732132756,0.00867495043016,1.04966113625
+176,2.933333333,pose1_to_pose2_press,0.606911557264,1.33039531439e-06,1.05001157552,0.577482791468,0.00867499397405,1.04966110684
+177,2.950000000,pose1_to_pose2_press,0.607646703258,1.27694900107e-06,1.05001166299,0.578217938032,0.00867494237331,1.04966119221
+178,2.966666667,pose1_to_pose2_press,0.608357973739,1.34486842552e-06,1.05001178254,0.578929208194,0.00867500917369,1.04966131095
+179,2.983333333,pose1_to_pose2_press,0.609043314527,1.25456129907e-06,1.05001180742,0.579614549476,0.00867492072367,1.04966134038
+180,3.000000000,pose1_to_pose2_press,0.60971081299,1.13090286304e-06,1.05001172003,0.580282049355,0.00867480210903,1.04966125888
+181,3.016666667,pose1_to_pose2_press,0.610361453822,1.19133837005e-06,1.05001167023,0.580932689988,0.00867486174905,1.04966120628
+182,3.033333333,pose1_to_pose2_press,0.611002882405,1.28632534669e-06,1.05001182647,0.581574117028,0.00867495113683,1.04966135357
+183,3.050000000,pose1_to_pose2_press,0.611639721375,1.30557715859e-06,1.05001197931,0.582210955153,0.00867496755303,1.04966150723
+184,3.066666667,pose1_to_pose2_press,0.612274863002,1.38033708968e-06,1.05001169617,0.582846095357,0.00867503786674,1.04966123359
+185,3.083333333,pose1_to_pose2_press,0.612900722568,1.31448735834e-06,1.05001172635,0.583471957348,0.00867498017319,1.04966126211
+186,3.100000000,pose1_to_pose2_press,0.61350927997,1.23106530107e-06,1.05001149578,0.584080516259,0.00867490217169,1.04966103903
+187,3.116666667,pose1_to_pose2_press,0.614085051177,1.22312268496e-06,1.0500119311,0.584656286693,0.00867489081005,1.04966145466
+188,3.133333333,pose1_to_pose2_press,0.614626983165,1.14496847628e-06,1.05001172109,0.585198219262,0.00867481487311,1.04966125074
+189,3.150000000,pose1_to_pose2_press,0.615134561665,1.26104211939e-06,1.05001178041,0.585705797112,0.00867492919116,1.04966132071
+190,3.166666667,pose1_to_pose2_press,0.615624748067,1.25087577641e-06,1.05001190892,0.586195982865,0.00867491660237,1.04966144438
+191,3.183333333,pose1_to_pose2_press,0.616103688351,1.23812705697e-06,1.05001179738,0.586674923359,0.00867490458215,1.0496613342
+192,3.200000000,pose1_to_pose2_press,0.616567014154,1.35402685357e-06,1.05001179698,0.587138247377,0.00867501447462,1.04966133115
+193,3.216666667,pose1_to_pose2_press,0.617010234286,1.34013779857e-06,1.05001184303,0.58758146738,0.0086749998483,1.0496613673
+194,3.233333333,pose1_to_pose2_press,0.617421104434,1.46808441409e-06,1.05001171659,0.587992337261,0.00867512718236,1.04966124705
+195,3.250000000,pose1_to_pose2_press,0.617800453502,1.38908009183e-06,1.05001148282,0.588371685968,0.00867504738865,1.04966102199
+196,3.266666667,pose1_to_pose2_press,0.618148269705,1.3658817379e-06,1.05001159813,0.588719502559,0.00867502538128,1.04966113241
+197,3.283333333,pose1_to_pose2_press,0.618475997194,1.32127523095e-06,1.05001174736,0.589047231741,0.0086749865978,1.04966128204
+198,3.300000000,pose1_to_pose2_press,0.61878774606,1.21797742112e-06,1.05001166141,0.589358981707,0.00867488736812,1.04966120242
+199,3.316666667,pose1_to_pose2_press,0.619089675581,1.24007830289e-06,1.05001157579,0.589660910706,0.00867490785773,1.04966111883
+200,3.333333333,pose1_to_pose2_press,0.619379382039,1.2911110562e-06,1.05001171985,0.589950617564,0.00867496006305,1.0496612568
+201,3.350000000,pose1_to_pose2_press,0.619649122035,1.22538579089e-06,1.05001181172,0.590220358068,0.00867489589365,1.04966134308
+202,3.366666667,pose1_to_pose2_press,0.619896243902,1.21715790431e-06,1.05001171246,0.5904674791,0.0086748849852,1.04966124605
+203,3.383333333,pose1_to_pose2_press,0.620117607474,1.08731289769e-06,1.05001155382,0.590688843843,0.00867475928415,1.04966109014
+204,3.400000000,pose1_to_pose2_press,0.620313580487,1.15975665648e-06,1.0500116072,0.590884816027,0.00867482915808,1.04966114811
+205,3.416666667,pose1_to_pose2_press,0.6204853083,1.26393098402e-06,1.0500117123,0.591056542872,0.00867493017038,1.04966125528
+206,3.433333333,pose1_to_pose2_press,0.620637151748,1.20871215648e-06,1.05001149429,0.591208387309,0.00867487842492,1.04966103881
+207,3.450000000,pose1_to_pose2_press,0.620771464861,1.3828487333e-06,1.05001128682,0.591342696104,0.00867503784954,1.04966082862
+208,3.466666667,pose1_to_pose2_press,0.620889511205,1.24671055262e-06,1.0500115181,0.59146074542,0.00867491161035,1.04966105423
+209,3.483333333,pose1_to_pose2_press,0.620995648249,1.27291739087e-06,1.0500117232,0.591566881946,0.00867493608547,1.04966125957
+210,3.500000000,pose1_to_pose2_press,0.621090933575,1.30078088352e-06,1.05001165776,0.591662167236,0.00867496369132,1.04966119014
+211,3.516666667,pose1_to_pose2_press,0.621176081194,1.3199819726e-06,1.05001155969,0.591747314714,0.00867498259884,1.04966109491
+212,3.533333333,pose1_to_pose2_press,0.62125110693,1.29779246504e-06,1.05001160818,0.59182234065,0.00867496120103,1.04966114491
+213,3.550000000,pose1_to_pose2_press,0.621315233226,1.27102575505e-06,1.05001166755,0.59188646741,0.00867493604738,1.04966120553
+214,3.566666667,pose1_to_pose2_press,0.621369011939,1.26343693509e-06,1.05001167837,0.591940245668,0.0086749271168,1.04966122208
+215,3.583333333,pose1_to_pose2_press,0.6214122249,1.20491748047e-06,1.05001182903,0.591983458328,0.00867486711622,1.04966136104
+216,3.600000000,pose1_to_pose2_press,0.62144761863,1.33011790985e-06,1.05001192524,0.592018852001,0.00867499192747,1.04966145232
+217,3.616666667,pose1_to_pose2_press,0.621475673153,1.23759760238e-06,1.05001153698,0.592046907645,0.00867490406316,1.04966108404
+218,3.633333333,pose1_to_pose2_press,0.621497920189,1.14267796009e-06,1.05001168331,0.592069155433,0.0086748110362,1.04966121416
+219,3.650000000,pose1_to_pose2_press,0.621515050173,1.11554346473e-06,1.05001162835,0.592086285589,0.00867478441326,1.04966115722
+220,3.666666667,pose1_to_pose2_press,0.621527545788,1.13671758925e-06,1.05001156153,0.592098780908,0.0086748048508,1.04966109646
+221,3.683333333,pose1_to_pose2_press,0.621536277933,1.21166106394e-06,1.05001156007,0.59210751219,0.00867487687448,1.04966109489
+222,3.700000000,pose1_to_pose2_press,0.621541491609,1.30739000822e-06,1.05001159623,0.5921127248,0.0086749686664,1.0496611234
+223,3.716666667,pose1_to_pose2_press,0.621544898988,1.26443779683e-06,1.05001156974,0.592116133305,0.00867492978924,1.04966110326
+224,3.733333333,pose1_to_pose2_press,0.621546963921,1.22430397872e-06,1.05001154699,0.592118199166,0.00867489301361,1.04966108586
+225,3.750000000,pose1_to_pose2_press,0.621548054107,1.22553477792e-06,1.05001159952,0.592119289244,0.00867489386703,1.04966113819
+226,3.766666667,pose1_to_pose2_press,0.621548704227,1.24405262098e-06,1.05001168204,0.592119938826,0.00867491045411,1.04966121819
+227,3.783333333,pose1_to_pose2_press,0.621549372662,1.26309213331e-06,1.05001176689,0.592120606707,0.00867492750846,1.04966130044
+228,3.800000000,pose1_to_pose2_press,0.621549953326,1.27963159355e-06,1.05001184059,0.59212118689,0.00867494232344,1.0496613719
+229,3.816666667,pose1_to_pose2_press,0.621550458571,1.29402284071e-06,1.05001190473,0.592121691716,0.00867495521418,1.04966143407
+230,3.833333333,pose1_to_pose2_press,0.621550813298,1.30389115227e-06,1.05001194885,0.592122046158,0.00867496405947,1.04966147687
+231,3.850000000,pose1_to_pose2_press,0.6215509293,1.29957881701e-06,1.05001193429,0.592122162332,0.00867496038742,1.04966146368
+232,3.866666667,pose1_to_pose2_press,0.621550995465,1.29711912252e-06,1.05001192599,0.592122228596,0.00867495829294,1.04966145615
+233,3.883333333,pose1_to_pose2_press,0.621551161777,1.29093652799e-06,1.05001190513,0.592122395154,0.00867495302833,1.04966143724
+234,3.900000000,pose1_to_pose2_press,0.62155134417,1.28415609982e-06,1.05001188225,0.592122577818,0.00867494725465,1.0496614165
+235,3.916666667,pose1_to_pose2_press,0.6215515043,1.27820331389e-06,1.05001186216,0.592122738186,0.00867494218573,1.04966139829
+236,3.933333333,pose1_to_pose2_press,0.62155202352,1.2589014087e-06,1.05001179703,0.592123258177,0.00867492574974,1.04966133925
+237,3.950000000,pose1_to_pose2_press,0.621552440707,1.24566246581e-06,1.05001173075,0.592123675475,0.00867491283564,1.04966127166
+238,3.966666667,pose1_to_pose2_press,0.621552718621,1.23967122239e-06,1.05001166922,0.59212395283,0.00867490459653,1.04966120155
+239,3.983333333,pose1_to_pose2_press,0.621552878177,1.23623153455e-06,1.0500116339,0.592124112065,0.0086748998663,1.04966116129
+240,4.000000000,pose1_to_pose2_press,0.62155289118,1.23595122699e-06,1.05001163102,0.592124125042,0.00867489948082,1.04966115801
+241,4.016666667,pose1_to_pose2_press,0.62155302886,1.23697713617e-06,1.05001163682,0.592124262452,0.00867489945537,1.04966116049
+242,4.033333333,pose1_to_pose2_press,0.621553131487,1.26276277845e-06,1.05001186844,0.592124364923,0.0086749248473,1.04966139546
+243,4.050000000,pose1_to_pose2_press,0.621553163043,1.27069132224e-06,1.05001193965,0.592124396431,0.00867493265567,1.04966146771
+244,4.066666667,pose1_to_pose2_press,0.621553163043,1.27069132224e-06,1.05001193965,0.592124396431,0.00867493265623,1.04966146771
+245,4.083333333,pose2_hold,0.621553163043,1.27069132224e-06,1.05001193965,0.59212439643,0.00867493265656,1.04966146771
+246,4.100000000,pose2_hold,0.621553163043,1.27069132224e-06,1.05001193965,0.59212439643,0.00867493265626,1.04966146771
+247,4.116666667,pose2_hold,0.621553163043,1.27069132224e-06,1.05001193965,0.592124396431,0.0086749326567,1.04966146771
+248,4.133333333,pose2_hold,0.621553163043,1.27069132224e-06,1.05001193965,0.59212439643,0.00867493265671,1.04966146771
+249,4.150000000,pose2_hold,0.621553163043,1.27069132224e-06,1.05001193965,0.59212439643,0.00867493265648,1.04966146771
+250,4.166666667,pose2_hold,0.621553163043,1.27069132224e-06,1.05001193965,0.592124396431,0.00867493265644,1.04966146771
+251,4.183333333,pose2_hold,0.621553163043,1.27069132224e-06,1.05001193965,0.59212439643,0.00867493265644,1.04966146771
+252,4.200000000,pose2_hold,0.621553163043,1.27069132224e-06,1.05001193965,0.592124396431,0.00867493265647,1.04966146771
+253,4.216666667,pose2_hold,0.621553163043,1.27069132224e-06,1.05001193965,0.592124396431,0.0086749326564,1.04966146771
+254,4.233333333,pose2_hold,0.621553163043,1.27069132224e-06,1.05001193965,0.59212439643,0.00867493265654,1.04966146771
+255,4.250000000,pose2_hold,0.621553163043,1.27069132224e-06,1.05001193965,0.59212439643,0.00867493265674,1.04966146771
+256,4.266666667,pose2_hold,0.621553163043,1.27069132224e-06,1.05001193965,0.592124396431,0.00867493265644,1.04966146771
+257,4.283333333,pose2_hold,0.621553163043,1.27069132224e-06,1.05001193965,0.59212439643,0.00867493265666,1.04966146771
+258,4.300000000,pose2_hold,0.621553163043,1.27069132224e-06,1.05001193965,0.59212439643,0.00867493265658,1.04966146771
+259,4.316666667,pose2_hold,0.621553163043,1.27069132224e-06,1.05001193965,0.592124396431,0.00867493265648,1.04966146771
+260,4.333333333,pose2_hold,0.621553163043,1.27069132224e-06,1.05001193965,0.59212439643,0.00867493265679,1.04966146771
+261,4.350000000,pose2_to_pose3_retreat,0.621553163043,1.27069132224e-06,1.05001193965,0.592124396431,0.00867493265655,1.04966146771
+262,4.366666667,pose2_to_pose3_retreat,0.621553150113,1.26629117916e-06,1.05001191788,0.592124383577,0.00867492856321,1.04966144709
+263,4.383333333,pose2_to_pose3_retreat,0.621553121568,1.25657711655e-06,1.05001186981,0.592124355201,0.00867491952647,1.04966140158
+264,4.400000000,pose2_to_pose3_retreat,0.621552847274,1.25455718943e-06,1.05001168408,0.592124081462,0.00867491950036,1.04966121857
+265,4.416666667,pose2_to_pose3_retreat,0.621552648423,1.26764398689e-06,1.05001159344,0.592123882844,0.00867493331325,1.04966112643
+266,4.433333333,pose2_to_pose3_retreat,0.621552576768,1.26913283344e-06,1.05001157302,0.59212381131,0.00867493519852,1.04966110559
+267,4.450000000,pose2_to_pose3_retreat,0.621552428277,1.2527291306e-06,1.05001160463,0.592123663303,0.00867492043023,1.04966113712
+268,4.466666667,pose2_to_pose3_retreat,0.621551179841,1.16215079121e-06,1.0500117836,0.592122417552,0.00867483895341,1.04966131595
+269,4.483333333,pose2_to_pose3_retreat,0.621547032918,1.2503792965e-06,1.05001160705,0.592118266835,0.00867491439946,1.04966114128
+270,4.500000000,pose2_to_pose3_retreat,0.621537003398,1.27655458169e-06,1.05001167548,0.592108237458,0.00867494114512,1.04966121187
+271,4.516666667,pose2_to_pose3_retreat,0.621518970193,1.24082698367e-06,1.05001156251,0.592090204656,0.00867490669904,1.04966109656
+272,4.533333333,pose2_to_pose3_retreat,0.621490316853,1.29349287265e-06,1.05001154755,0.592061550421,0.00867495645534,1.04966108472
+273,4.550000000,pose2_to_pose3_retreat,0.621450849864,1.40757603963e-06,1.05001174778,0.592022083118,0.00867506950732,1.04966128581
+274,4.566666667,pose2_to_pose3_retreat,0.621400264229,1.24440004552e-06,1.05001181865,0.591971499857,0.00867491399675,1.04966134732
+275,4.583333333,pose2_to_pose3_retreat,0.621340546972,1.34596630556e-06,1.0500116633,0.591911781651,0.00867501273494,1.04966120127
+276,4.600000000,pose2_to_pose3_retreat,0.62127259151,1.3495046831e-06,1.05001169206,0.591843825896,0.00867501532017,1.04966122993
+277,4.616666667,pose2_to_pose3_retreat,0.621196019727,1.31470010432e-06,1.05001191154,0.591767255928,0.00867498646053,1.04966144394
+278,4.633333333,pose2_to_pose3_retreat,0.621110130307,1.2457554367e-06,1.05001153808,0.591681366148,0.00867491669042,1.0496610801
+279,4.650000000,pose2_to_pose3_retreat,0.621012408373,1.34203370359e-06,1.05001152156,0.591583641662,0.00867500407287,1.0496610632
+280,4.666666667,pose2_to_pose3_retreat,0.620901560947,1.32589250064e-06,1.05001171012,0.591472794697,0.00867498924807,1.04966124757
+281,4.683333333,pose2_to_pose3_retreat,0.62077418194,1.27741219376e-06,1.05001171121,0.591345415699,0.00867494085407,1.04966125089
+282,4.700000000,pose2_to_pose3_retreat,0.620631186979,1.23608733918e-06,1.05001173427,0.591202421058,0.00867490041407,1.04966127002
+283,4.716666667,pose2_to_pose3_retreat,0.620471954949,1.2399960931e-06,1.05001173386,0.591043189546,0.0086749058127,1.04966126426
+284,4.733333333,pose2_to_pose3_retreat,0.620292511198,1.25070183029e-06,1.05001159668,0.590863745602,0.00867491591944,1.0496611299
+285,4.750000000,pose2_to_pose3_retreat,0.620092938871,1.20732383707e-06,1.05001171826,0.590664173168,0.0086748719799,1.04966124801
+286,4.766666667,pose2_to_pose3_retreat,0.619870503418,1.48742666808e-06,1.05001176646,0.590441734488,0.00867514137705,1.04966130377
+287,4.783333333,pose2_to_pose3_retreat,0.619623601308,1.28944795847e-06,1.0500115747,0.59019483615,0.00867495583665,1.04966110484
+288,4.800000000,pose2_to_pose3_retreat,0.619348328922,1.32182101083e-06,1.05001150754,0.589919563005,0.00867498619181,1.04966105387
+289,4.816666667,pose2_to_pose3_retreat,0.619046983121,1.47922751647e-06,1.05001164896,0.589618215485,0.00867513744536,1.04966118915
+290,4.833333333,pose2_to_pose3_retreat,0.618719552593,1.35761615268e-06,1.05001168025,0.589290787689,0.00867502472839,1.0496612136
+291,4.850000000,pose2_to_pose3_retreat,0.618364707962,1.2795008772e-06,1.05001176346,0.588935942284,0.00867494408863,1.04966130206
+292,4.866666667,pose2_to_pose3_retreat,0.617987359604,1.32733528231e-06,1.05001155477,0.588558593927,0.00867499219768,1.04966110208
+293,4.883333333,pose2_to_pose3_retreat,0.617593742029,1.31707651875e-06,1.0500115382,0.588164975322,0.00867497807162,1.04966107811
+294,4.900000000,pose2_to_pose3_retreat,0.617182186002,1.22409049239e-06,1.05001163218,0.587753421114,0.00867489100648,1.04966116806
+295,4.916666667,pose2_to_pose3_retreat,0.616749322839,1.2762754227e-06,1.05001167017,0.587320558001,0.00867494329716,1.04966120694
+296,4.933333333,pose2_to_pose3_retreat,0.61629106038,1.38259290246e-06,1.05001175014,0.586862294343,0.00867504544005,1.04966128502
+297,4.950000000,pose2_to_pose3_retreat,0.615803426093,1.32308834103e-06,1.05001179909,0.586374661062,0.00867498935508,1.04966133436
+298,4.966666667,pose2_to_pose3_retreat,0.615276364253,1.26569901546e-06,1.05001174592,0.585847599971,0.00867493445173,1.04966128055
+299,4.983333333,pose2_to_pose3_retreat,0.614717275734,1.28370686726e-06,1.05001170533,0.585288510565,0.00867494926008,1.04966123494
+300,5.000000000,pose2_to_pose3_retreat,0.614130947385,1.25428572632e-06,1.05001180244,0.584702182218,0.00867491983954,1.04966133092
+301,5.016666667,pose2_to_pose3_retreat,0.613529546651,1.32373379798e-06,1.05001194614,0.584100780741,0.00867498677523,1.04966147517
+302,5.033333333,pose2_to_pose3_retreat,0.612916197234,1.32007741142e-06,1.05001182317,0.583487431388,0.00867498338109,1.04966135418
+303,5.050000000,pose2_to_pose3_retreat,0.612284325127,1.34543700277e-06,1.05001163663,0.582855559015,0.00867500774919,1.04966116574
+304,5.066666667,pose2_to_pose3_retreat,0.611631533007,1.35214492705e-06,1.05001176137,0.582202766677,0.0086750140868,1.04966129873
+305,5.083333333,pose2_to_pose3_retreat,0.610951509669,1.3277945257e-06,1.05001165495,0.581522742881,0.00867498829244,1.049661194
+306,5.100000000,pose2_to_pose3_retreat,0.610248874681,1.19224132458e-06,1.05001167164,0.580820110169,0.00867486034843,1.04966120785
+307,5.116666667,pose2_to_pose3_retreat,0.60952846563,1.37452712251e-06,1.05001166314,0.580099699823,0.00867503834538,1.04966120247
+308,5.133333333,pose2_to_pose3_retreat,0.608795188877,1.26513343824e-06,1.0500118116,0.57936642457,0.00867493371976,1.04966134289
+309,5.150000000,pose2_to_pose3_retreat,0.608049147574,1.27980500859e-06,1.05001172162,0.578620381433,0.00867494197981,1.04966124813
+310,5.166666667,pose2_to_pose3_retreat,0.6072971908,1.27683994585e-06,1.050011573,0.577868426065,0.00867494410824,1.04966110751
+311,5.183333333,pose2_to_pose3_retreat,0.606535685873,1.34525371557e-06,1.0500115509,0.577106919847,0.00867500821932,1.04966108724
+312,5.200000000,pose2_to_pose3_retreat,0.605760269415,1.36538930181e-06,1.05001181638,0.576331503008,0.00867502714097,1.04966135462
+313,5.216666667,pose2_to_pose3_retreat,0.604972520993,1.32893050999e-06,1.05001174943,0.575543754267,0.00867498946498,1.04966128425
+314,5.233333333,pose2_to_pose3_retreat,0.604168554657,1.31785420369e-06,1.05001178325,0.574739787931,0.00867497818081,1.04966131289
+315,5.250000000,pose2_to_pose3_retreat,0.603353210825,1.24776468201e-06,1.05001174277,0.573924445654,0.00867491344864,1.04966127432
+316,5.266666667,pose2_to_pose3_retreat,0.602527805357,1.2751414094e-06,1.05001176024,0.573099040052,0.00867494032424,1.0496612906
+317,5.283333333,pose2_to_pose3_retreat,0.601696547059,1.26285134866e-06,1.05001183546,0.572267781145,0.00867492578555,1.04966136122
+318,5.300000000,pose2_to_pose3_retreat,0.600869648359,1.26173718436e-06,1.0500117023,0.571440882494,0.00867492508374,1.04966123411
+319,5.316666667,pose2_to_pose3_retreat,0.600054640155,1.29060473099e-06,1.05001159274,0.570625874597,0.00867495523604,1.04966113041
+320,5.333333333,pose2_to_pose3_retreat,0.599247312353,1.21741329057e-06,1.05001164146,0.569818547712,0.00867488501327,1.04966117558
+321,5.350000000,pose2_to_pose3_retreat,0.598446221679,1.25944519838e-06,1.05001157689,0.569017456459,0.008674925144,1.04966111248
+322,5.366666667,pose2_to_pose3_retreat,0.597624961421,1.35313933611e-06,1.05001168614,0.568196194247,0.00867501206272,1.04966121817
+323,5.383333333,pose2_to_pose3_retreat,0.596788482786,1.27975618159e-06,1.05001166537,0.567359717035,0.00867494359966,1.04966119966
+324,5.400000000,pose2_to_pose3_retreat,0.595951174317,1.29826711479e-06,1.05001154749,0.566522409103,0.00867496421488,1.04966108865
+325,5.416666667,pose2_to_pose3_retreat,0.595121237354,1.3458505948e-06,1.05001165272,0.565692472089,0.0086750117265,1.04966119634
+326,5.433333333,pose2_to_pose3_retreat,0.594306319704,1.3295662539e-06,1.0500117794,0.56487755365,0.00867499256261,1.04966131802
+327,5.450000000,pose2_to_pose3_retreat,0.593525995798,1.25548218184e-06,1.05001179602,0.564097230499,0.00867492092409,1.04966133169
+328,5.466666667,pose2_to_pose3_retreat,0.592774445573,1.25437323807e-06,1.05001155879,0.563345680025,0.00867491912849,1.04966109842
+329,5.483333333,pose2_to_pose3_retreat,0.592036737831,1.29249240974e-06,1.05001153105,0.562607971595,0.00867495502783,1.04966107341
+330,5.500000000,pose2_to_pose3_retreat,0.591307184961,1.33836737155e-06,1.05001179853,0.561878417816,0.00867499772166,1.04966133854
+331,5.516666667,pose2_to_pose3_retreat,0.590582889734,1.29307027197e-06,1.05001187284,0.561154124756,0.00867495998936,1.04966141804
+332,5.533333333,pose2_to_pose3_retreat,0.589861228629,1.39098622881e-06,1.05001184183,0.560432462068,0.00867505212687,1.04966137694
+333,5.550000000,pose2_to_pose3_retreat,0.589140255584,1.43588157456e-06,1.05001180697,0.559711487904,0.00867509311871,1.04966133944
+334,5.566666667,pose2_to_pose3_retreat,0.588441663127,1.32180301022e-06,1.05001159198,0.559012896615,0.00867498313324,1.04966112767
+335,5.583333333,pose2_to_pose3_retreat,0.587767578174,1.24432232972e-06,1.05001155328,0.558338812848,0.00867490973613,1.04966109041
+336,5.600000000,pose2_to_pose3_retreat,0.587120525995,1.26096681176e-06,1.05001159897,0.557691760134,0.00867492464961,1.04966113815
+337,5.616666667,pose2_to_pose3_retreat,0.586507077803,1.36022340572e-06,1.05001153789,0.557078309944,0.00867501712451,1.04966107705
+338,5.633333333,pose2_to_pose3_retreat,0.585931470324,1.38390272366e-06,1.05001155405,0.556502703108,0.00867504284935,1.04966108982
+339,5.650000000,pose2_to_pose3_retreat,0.585375239238,1.21726941129e-06,1.05001157077,0.55594647569,0.00867488852605,1.04966110319
+340,5.666666667,pose2_to_pose3_retreat,0.584834896867,1.23546755116e-06,1.05001151716,0.555406132564,0.00867490449367,1.04966105782
+341,5.683333333,pose2_to_pose3_retreat,0.584312620429,1.23998652643e-06,1.05001140497,0.554883855199,0.00867490603118,1.04966094971
+342,5.700000000,pose2_to_pose3_retreat,0.58380878399,1.27426683428e-06,1.05001159176,0.554380016265,0.00867493111925,1.04966111853
+343,5.716666667,pose2_to_pose3_retreat,0.583326908798,1.26123231157e-06,1.05001181233,0.553898142477,0.0086749229617,1.04966134194
+344,5.733333333,pose2_to_pose3_retreat,0.582867436887,1.12951595343e-06,1.05001194048,0.553438673068,0.00867479969637,1.04966146905
+345,5.750000000,pose2_to_pose3_retreat,0.58243141019,1.16660308295e-06,1.05001163601,0.553002645928,0.00867483527932,1.04966116467
+346,5.766666667,pose2_to_pose3_retreat,0.582012693089,1.20858047789e-06,1.05001156877,0.552583928257,0.00867487555871,1.04966110322
+347,5.783333333,pose2_to_pose3_retreat,0.581612462001,1.25123928835e-06,1.05001131739,0.552183695373,0.00867491263794,1.04966086462
+348,5.800000000,pose2_to_pose3_retreat,0.581241257716,1.20067277569e-06,1.05001164994,0.551812493409,0.00867486911452,1.04966117662
+349,5.816666667,pose2_to_pose3_retreat,0.580899316945,1.2989425911e-06,1.05001191806,0.551470552189,0.00867496573898,1.0496614418
+350,5.833333333,pose2_to_pose3_retreat,0.580590425906,1.40597771847e-06,1.05001185914,0.551161657998,0.00867506228104,1.04966138782
+351,5.850000000,pose2_to_pose3_retreat,0.580315795358,1.37043181274e-06,1.05001173622,0.550887027649,0.00867502751909,1.04966126767
+352,5.866666667,pose2_to_pose3_retreat,0.580073863445,1.35039959157e-06,1.05001175527,0.550645096766,0.00867501102895,1.04966128787
+353,5.883333333,pose2_to_pose3_retreat,0.579851001783,1.34713724341e-06,1.05001169464,0.55042223584,0.00867501051341,1.04966123336
+354,5.900000000,pose2_to_pose3_retreat,0.579644450992,1.35072386993e-06,1.05001159677,0.550215684909,0.00867501373243,1.04966113818
+355,5.916666667,pose2_to_pose3_retreat,0.579451990046,1.39802469973e-06,1.05001185744,0.550023222583,0.00867505569267,1.04966138256
+356,5.933333333,pose2_to_pose3_retreat,0.579272738424,1.25417812596e-06,1.05001192026,0.549843974156,0.00867492278897,1.04966144803
+357,5.950000000,pose2_to_pose3_retreat,0.579108936794,1.31979503845e-06,1.05001154045,0.549680170603,0.00867498244733,1.04966108227
+358,5.966666667,pose2_to_pose3_retreat,0.578963040427,1.32918357283e-06,1.05001177934,0.549534274116,0.00867499125062,1.04966131683
+359,5.983333333,pose2_to_pose3_retreat,0.578835206303,1.18943769752e-06,1.05001179347,0.5494064422,0.00867485892303,1.04966132909
+360,6.000000000,pose2_to_pose3_retreat,0.578726291964,1.34099662567e-06,1.05001131601,0.549297524912,0.00867500094144,1.0496608632
+361,6.016666667,pose2_to_pose3_retreat,0.578633555506,1.194038475e-06,1.05001171299,0.549204791386,0.0086748634403,1.04966124877
+362,6.033333333,pose2_to_pose3_retreat,0.578555215737,1.21819067672e-06,1.05001187584,0.549126450317,0.00867488323475,1.04966141293
+363,6.050000000,pose2_to_pose3_retreat,0.578488283977,1.24732241053e-06,1.05001165906,0.549059518175,0.00867491116714,1.04966119833
+364,6.066666667,pose2_to_pose3_retreat,0.578432399293,1.14690597738e-06,1.05001154269,0.549003635746,0.0086748183291,1.04966108013
+365,6.083333333,pose2_to_pose3_retreat,0.578385874573,1.12566192116e-06,1.05001163105,0.548957111209,0.00867479746897,1.04966116259
+366,6.100000000,pose2_to_pose3_retreat,0.578348083605,1.28397527688e-06,1.05001163553,0.548919318428,0.00867494964289,1.04966116724
+367,6.116666667,pose2_to_pose3_retreat,0.578318220787,1.35277291026e-06,1.05001160838,0.548889455152,0.00867501706481,1.0496611446
+368,6.133333333,pose2_to_pose3_retreat,0.578295595499,1.26966880485e-06,1.05001167491,0.54886682998,0.00867493434828,1.04966121095
+369,6.150000000,pose2_to_pose3_retreat,0.578280639772,1.28098256657e-06,1.05001175508,0.548851873688,0.00867494361473,1.04966128789
+370,6.166666667,pose2_to_pose3_retreat,0.578270315526,1.35605028825e-06,1.05001192812,0.548841548675,0.00867501579649,1.04966145401
+371,6.183333333,pose2_to_pose3_retreat,0.578263717934,1.24072968625e-06,1.0500116048,0.548834952325,0.00867490522532,1.04966114392
+372,6.200000000,pose2_to_pose3_retreat,0.578260178566,1.27577914913e-06,1.05001157295,0.548831413073,0.00867494077502,1.04966111478
+373,6.216666667,pose2_to_pose3_retreat,0.578258311153,1.33596248922e-06,1.05001161705,0.548829545484,0.00867500034142,1.04966115842
+374,6.233333333,pose2_to_pose3_retreat,0.578256671528,1.37243489813e-06,1.05001165299,0.548827905689,0.00867503619487,1.04966119339
+375,6.250000000,pose2_to_pose3_retreat,0.578255658713,1.33659003637e-06,1.05001166529,0.548826892711,0.0086749996921,1.04966120303
+376,6.266666667,pose2_to_pose3_retreat,0.578255336113,1.32517279369e-06,1.0500116692,0.548826570059,0.0086749880653,1.0496612061
+377,6.283333333,pose2_to_pose3_retreat,0.578255080565,1.31612858758e-06,1.05001167231,0.54882631447,0.00867497885509,1.04966120853
+378,6.300000000,pose2_to_pose3_retreat,0.578254857365,1.30822926374e-06,1.05001167501,0.548826091235,0.00867497081078,1.04966121065
+379,6.316666667,pose2_to_pose3_retreat,0.578254775176,1.3053204803e-06,1.05001167601,0.548826009032,0.00867496784861,1.04966121143
+380,6.333333333,pose2_to_pose3_retreat,0.578254747617,1.30434512047e-06,1.05001167635,0.548825981468,0.00867496685535,1.0496612117
+381,6.350000000,pose2_to_pose3_retreat,0.578254669493,1.30158021706e-06,1.0500116773,0.548825903332,0.00867496403969,1.04966121244
+382,6.366666667,pose2_to_pose3_retreat,0.578254636352,1.30040729812e-06,1.0500116777,0.548825870185,0.00867496284525,1.04966121276
+383,6.383333333,pose2_to_pose3_retreat,0.578254458992,1.29413029867e-06,1.05001167985,0.548825692797,0.00867495645304,1.04966121444
+384,6.400000000,pose2_to_pose3_retreat,0.578254237911,1.28630594358e-06,1.05001168253,0.54882547168,0.00867494848507,1.04966121655
+385,6.416666667,pose2_to_pose3_retreat,0.578253900016,1.27475027943e-06,1.05001166996,0.548825134062,0.00867493786885,1.04966120404
+386,6.433333333,pose2_to_pose3_retreat,0.578253346377,1.25660444489e-06,1.05001161671,0.548824581521,0.00867492352945,1.04966115277
+387,6.450000000,pose2_to_pose3_retreat,0.57825305856,1.24717108652e-06,1.05001158904,0.548824294275,0.00867491607491,1.04966112612
+388,6.466666667,pose2_to_pose3_retreat,0.578252788928,1.23833374947e-06,1.05001156311,0.548824025178,0.00867490909138,1.04966110116
+389,6.483333333,pose2_to_pose3_retreat,0.578252543172,1.24211482716e-06,1.05001152275,0.54882377965,0.00867491371553,1.04966106247
+390,6.500000000,pose2_to_pose3_retreat,0.578252406981,1.25884777103e-06,1.0500114797,0.548823643266,0.0086749298687,1.04966102133
+391,6.516666667,pose2_to_pose3_retreat,0.578252320205,1.26950935151e-06,1.05001145228,0.548823556367,0.00867494016088,1.04966099511
+392,6.533333333,pose2_to_pose3_retreat,0.578252315249,1.27011826165e-06,1.05001145071,0.548823551404,0.00867494074869,1.04966099362
+393,6.550000000,pose2_to_pose3_retreat,0.578252202044,1.28402706049e-06,1.05001141493,0.548823438038,0.00867495417558,1.04966095942
+394,6.566666667,pose2_to_pose3_retreat,0.578252146864,1.29080678353e-06,1.05001139749,0.548823382779,0.00867496072039,1.04966094275
+395,6.583333333,pose2_to_pose3_retreat,0.57825211654,1.29453248779e-06,1.0500113879,0.548823352412,0.00867496431701,1.04966093359
+396,6.600000000,pose2_to_pose3_retreat,0.578252121379,1.30482558873e-06,1.05001146058,0.548823356811,0.00867497303093,1.04966100409
+397,6.616666667,pose2_to_pose3_retreat,0.578252132489,1.31713857628e-06,1.05001155348,0.548823367377,0.00867498338143,1.04966109417
+398,6.633333333,pose2_to_pose3_retreat,0.578252141005,1.32657645547e-06,1.05001162469,0.548823375476,0.00867499131506,1.04966116322
+399,6.650000000,pose2_to_pose3_retreat,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537876,1.04966119859
+400,6.666666667,pose2_to_pose3_retreat,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537866,1.04966119859

Part2/Obstacle_avoidance/ball_0030_17.5/position_01/depth_02/fem_node.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:caf0d5ac259c0287a0768443dfcef359002edd0e8d85ab3de4490098d44bb22c
+size 25610200

Part2/Obstacle_avoidance/ball_0030_17.5/position_01/depth_02/simulation_data.csv

@@ -0,0 +1,404 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+1,0.016666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+2,0.033333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+3,0.050000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+4,0.066666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+5,0.083333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+6,0.100000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+7,0.116666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+8,0.133333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+9,0.150000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+10,0.166666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+11,0.183333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+12,0.200000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+13,0.216666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+14,0.233333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+15,0.250000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+16,0.266666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+17,0.283333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+18,0.300000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+19,0.316666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+20,0.333333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+21,0.350000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+22,0.366666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+23,0.383333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+24,0.400000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+25,0.416666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+26,0.433333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+27,0.450000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+28,0.466666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+29,0.483333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+30,0.500000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+31,0.516666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+32,0.533333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+33,0.550000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+34,0.566666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+35,0.583333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+36,0.600000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+37,0.616666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+38,0.633333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+39,0.650000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+40,0.666666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+41,0.683333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+42,0.700000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+43,0.716666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+44,0.733333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+45,0.750000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+46,0.766666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+47,0.783333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+48,0.800000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+49,0.816666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+50,0.833333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+51,0.850000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+52,0.866666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+53,0.883333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+54,0.900000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+55,0.916666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+56,0.933333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+57,0.950000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+58,0.966666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+59,0.983333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+60,1.000000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+61,1.016666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+62,1.033333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+63,1.050000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+64,1.066666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+65,1.083333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+66,1.100000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+67,1.116666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+68,1.133333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+69,1.150000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+70,1.166666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+71,1.183333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+72,1.200000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+73,1.216666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+74,1.233333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+75,1.250000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+76,1.266666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+77,1.283333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+78,1.300000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+79,1.316666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+80,1.333333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+81,1.350000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+82,1.366666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+83,1.383333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+84,1.400000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+85,1.416666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+86,1.433333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+87,1.450000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+88,1.466666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+89,1.483333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+90,1.500000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+91,1.516666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+92,1.533333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+93,1.550000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+94,1.566666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+95,1.583333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+96,1.600000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+97,1.616666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+98,1.633333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+99,1.650000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+100,1.666666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+101,1.683333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+102,1.700000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+103,1.716666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+104,1.733333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+105,1.750000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+106,1.766666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+107,1.783333333,pose1_to_pose2_press,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+108,1.800000000,pose1_to_pose2_press,0.578252231295,1.33815835565e-06,1.05001167837,0.548823466021,0.00867500358881,1.04966121252
+109,1.816666667,pose1_to_pose2_press,0.578252346108,1.3471743782e-06,1.05001170136,0.548823581463,0.00867501455891,1.04966123114
+110,1.833333333,pose1_to_pose2_press,0.578252525308,1.30755820338e-06,1.05001167339,0.548823761409,0.00867497767703,1.04966120818
+111,1.850000000,pose1_to_pose2_press,0.578252642098,1.280246399e-06,1.05001165339,0.548823878679,0.00867495213848,1.04966119177
+112,1.866666667,pose1_to_pose2_press,0.578252661423,1.27572724063e-06,1.05001165008,0.548823898083,0.00867494791274,1.04966118906
+113,1.883333333,pose1_to_pose2_press,0.578253399114,1.30136862179e-06,1.05001159975,0.548824634629,0.0086749695986,1.04966113695
+114,1.900000000,pose1_to_pose2_press,0.578256362425,1.38541446404e-06,1.0500116594,0.548827596088,0.00867504721344,1.04966119294
+115,1.916666667,pose1_to_pose2_press,0.57826383471,1.32002185034e-06,1.05001152637,0.548835068601,0.00867498240788,1.04966105541
+116,1.933333333,pose1_to_pose2_press,0.578279008843,1.18259978289e-06,1.05001187463,0.548850243491,0.00867484771571,1.04966140742
+117,1.950000000,pose1_to_pose2_press,0.578303571048,1.21003879804e-06,1.0500114807,0.548874806058,0.00867487669913,1.04966102129
+118,1.966666667,pose1_to_pose2_press,0.578339131881,1.18628508008e-06,1.05001143519,0.548910367291,0.00867485428685,1.04966097534
+119,1.983333333,pose1_to_pose2_press,0.578385109053,1.15500220235e-06,1.05001156516,0.548956345414,0.00867482599619,1.04966109951
+120,2.000000000,pose1_to_pose2_press,0.578440288467,1.24019771613e-06,1.05001178368,0.549011522033,0.00867490179924,1.04966132015
+121,2.016666667,pose1_to_pose2_press,0.578503180105,1.22775308613e-06,1.05001178503,0.549074416167,0.00867489788652,1.04966132302
+122,2.033333333,pose1_to_pose2_press,0.578573808247,1.26291731827e-06,1.05001180939,0.549145042467,0.00867492646501,1.04966133901
+123,2.050000000,pose1_to_pose2_press,0.578653354054,1.31828978007e-06,1.05001170336,0.549224588514,0.00867498278641,1.0496612362
+124,2.066666667,pose1_to_pose2_press,0.57874292615,1.20652055824e-06,1.05001166119,0.549314160134,0.00867486971211,1.04966120172
+125,2.083333333,pose1_to_pose2_press,0.578845660793,1.09780265093e-06,1.05001178777,0.54941689796,0.00867477139327,1.04966131833
+126,2.100000000,pose1_to_pose2_press,0.578961972672,1.35784462715e-06,1.05001179837,0.549533206808,0.00867502128147,1.04966133218
+127,2.116666667,pose1_to_pose2_press,0.579094614356,1.38055342624e-06,1.05001171033,0.54966584757,0.0086750408952,1.04966124485
+128,2.133333333,pose1_to_pose2_press,0.579242893172,1.37069746802e-06,1.0500116578,0.549814125864,0.00867502947623,1.04966119742
+129,2.150000000,pose1_to_pose2_press,0.579407884978,1.31220897079e-06,1.05001166371,0.549979118997,0.00867497546949,1.04966120273
+130,2.166666667,pose1_to_pose2_press,0.579592230963,1.24490695606e-06,1.05001154617,0.550163466469,0.00867491323228,1.04966108569
+131,2.183333333,pose1_to_pose2_press,0.579795547977,1.29459556604e-06,1.05001152457,0.550366783384,0.00867496254622,1.04966106307
+132,2.200000000,pose1_to_pose2_press,0.580017563462,1.39123230309e-06,1.05001174046,0.550588798303,0.00867505697255,1.04966127174
+133,2.216666667,pose1_to_pose2_press,0.580257772031,1.39402399721e-06,1.05001180494,0.550829006202,0.00867505757991,1.04966133842
+134,2.233333333,pose1_to_pose2_press,0.580518211682,1.34556436378e-06,1.05001183666,0.551089445865,0.00867500910315,1.04966136864
+135,2.250000000,pose1_to_pose2_press,0.58079394902,1.43962704028e-06,1.0500119012,0.55136518149,0.00867509720063,1.04966142926
+136,2.266666667,pose1_to_pose2_press,0.581084172978,1.15418445297e-06,1.05001153279,0.551655410224,0.00867482854226,1.04966107522
+137,2.283333333,pose1_to_pose2_press,0.581398136522,1.30228379733e-06,1.05001178646,0.551969371317,0.00867496796421,1.04966131995
+138,2.300000000,pose1_to_pose2_press,0.581736510363,1.33777382268e-06,1.05001154982,0.552307744845,0.00867500289246,1.04966109553
+139,2.316666667,pose1_to_pose2_press,0.582105482198,1.33476892279e-06,1.05001175448,0.552676715759,0.00867499636958,1.04966129041
+140,2.333333333,pose1_to_pose2_press,0.582508929641,1.22885350556e-06,1.05001149879,0.553080163673,0.00867489215709,1.04966103733
+141,2.350000000,pose1_to_pose2_press,0.582951220049,1.22962562818e-06,1.05001181114,0.553522455757,0.00867489856879,1.04966134847
+142,2.366666667,pose1_to_pose2_press,0.583414039506,1.23773537769e-06,1.05001171239,0.553985274587,0.00867490459182,1.04966125071
+143,2.383333333,pose1_to_pose2_press,0.583892186456,1.30699158497e-06,1.0500117817,0.554463421294,0.00867497278884,1.0496613141
+144,2.400000000,pose1_to_pose2_press,0.584382100608,1.23814802004e-06,1.05001183226,0.554953336512,0.00867490739672,1.04966136058
+145,2.416666667,pose1_to_pose2_press,0.584882903741,1.25580941808e-06,1.05001181212,0.555454138659,0.00867492185996,1.04966134407
+146,2.433333333,pose1_to_pose2_press,0.585398365249,1.29179184389e-06,1.05001169225,0.55596959949,0.00867495534365,1.04966121915
+147,2.450000000,pose1_to_pose2_press,0.585939225319,1.35062470338e-06,1.05001158005,0.556510458283,0.00867501001617,1.04966111116
+148,2.466666667,pose1_to_pose2_press,0.586510429094,1.36857111825e-06,1.05001149454,0.557081661513,0.00867502637787,1.04966103222
+149,2.483333333,pose1_to_pose2_press,0.587104093391,1.31147975955e-06,1.05001158359,0.557675327046,0.00867497341752,1.04966111966
+150,2.500000000,pose1_to_pose2_press,0.5877140386,1.21358805646e-06,1.05001164926,0.558285274245,0.0086748822843,1.04966118552
+151,2.516666667,pose1_to_pose2_press,0.58832739276,1.17671675368e-06,1.05001142651,0.558898629321,0.00867484851851,1.04966096262
+152,2.533333333,pose1_to_pose2_press,0.588951961348,1.30483693784e-06,1.0500115047,0.559523195574,0.00867496876192,1.04966104199
+153,2.550000000,pose1_to_pose2_press,0.589600924218,1.18161152293e-06,1.05001179298,0.560172159652,0.00867484940464,1.04966132444
+154,2.566666667,pose1_to_pose2_press,0.590278516866,1.30053225834e-06,1.05001171586,0.560849748119,0.00867495392306,1.04966124205
+155,2.583333333,pose1_to_pose2_press,0.590987048257,1.21017315142e-06,1.05001168507,0.561558282559,0.0086748743938,1.04966122323
+156,2.600000000,pose1_to_pose2_press,0.591722125633,1.32794374835e-06,1.05001193926,0.562293360678,0.00867499435523,1.04966146928
+157,2.616666667,pose1_to_pose2_press,0.592470872788,1.36098079023e-06,1.05001180458,0.563042108067,0.00867502832072,1.04966133789
+158,2.633333333,pose1_to_pose2_press,0.593220279478,1.2034637338e-06,1.05001179388,0.563791513698,0.00867486730896,1.04966132963
+159,2.650000000,pose1_to_pose2_press,0.59396677829,1.30075414995e-06,1.05001166597,0.564538012849,0.00867496587987,1.04966120496
+160,2.666666667,pose1_to_pose2_press,0.594709073089,1.22015217136e-06,1.05001169353,0.565280309015,0.00867488957736,1.04966122415
+161,2.683333333,pose1_to_pose2_press,0.595453537349,1.12873743261e-06,1.05001177048,0.566024774218,0.00867480149633,1.04966130445
+162,2.700000000,pose1_to_pose2_press,0.596201825146,1.2273022562e-06,1.05001180011,0.566773060797,0.00867489592009,1.04966133396
+163,2.716666667,pose1_to_pose2_press,0.596973502754,1.30246799707e-06,1.0500117128,0.567544736863,0.00867496593634,1.04966124866
+164,2.733333333,pose1_to_pose2_press,0.597765582839,1.24050754529e-06,1.05001159324,0.568336817639,0.00867490636904,1.04966113037
+165,2.750000000,pose1_to_pose2_press,0.598573975552,1.36534026268e-06,1.05001165219,0.56914520895,0.00867502608968,1.04966118055
+166,2.766666667,pose1_to_pose2_press,0.599398261271,1.39702629859e-06,1.0500117261,0.569969494018,0.00867505541061,1.04966125057
+167,2.783333333,pose1_to_pose2_press,0.60023395484,1.36428904799e-06,1.05001175903,0.570805188376,0.00867502563367,1.04966129055
+168,2.800000000,pose1_to_pose2_press,0.601051658071,1.29568873822e-06,1.0500117343,0.571622892618,0.00867496063523,1.0496612702
+169,2.816666667,pose1_to_pose2_press,0.601851292206,1.20829158522e-06,1.05001166819,0.572422527397,0.00867487551134,1.04966120636
+170,2.833333333,pose1_to_pose2_press,0.602628673703,1.30010369709e-06,1.05001173973,0.57319990831,0.00867496507873,1.04966127137
+171,2.850000000,pose1_to_pose2_press,0.603393980781,1.31237443091e-06,1.05001184457,0.573965216208,0.00867497978551,1.04966136771
+172,2.866666667,pose1_to_pose2_press,0.60415688693,1.14626225163e-06,1.05001174208,0.574728124192,0.00867482032639,1.04966127581
+173,2.883333333,pose1_to_pose2_press,0.604930232771,1.18652005764e-06,1.05001158254,0.575501469259,0.0086748579858,1.04966111702
+174,2.900000000,pose1_to_pose2_press,0.605716829992,1.1600943476e-06,1.05001169811,0.576288065752,0.00867482895659,1.04966122939
+175,2.916666667,pose1_to_pose2_press,0.606503964442,1.29100187679e-06,1.05001164987,0.577075199791,0.00867495867457,1.04966118624
+176,2.933333333,pose1_to_pose2_press,0.607281974984,1.33711671016e-06,1.0500114191,0.577853207736,0.00867499613579,1.04966095947
+177,2.950000000,pose1_to_pose2_press,0.608039338906,1.27264587187e-06,1.05001140873,0.578610574317,0.00867494090419,1.04966095458
+178,2.966666667,pose1_to_pose2_press,0.608767340962,1.33352928708e-06,1.05001155031,0.579338574225,0.00867499421264,1.04966108911
+179,2.983333333,pose1_to_pose2_press,0.609464231219,1.48825474858e-06,1.05001152001,0.580035462676,0.00867514296755,1.04966106278
+180,3.000000000,pose1_to_pose2_press,0.610148399051,1.34733359389e-06,1.05001164655,0.580719633617,0.00867501236791,1.04966118379
+181,3.016666667,pose1_to_pose2_press,0.610821271966,1.24435568144e-06,1.05001155528,0.581392505947,0.008674907536,1.04966109577
+182,3.033333333,pose1_to_pose2_press,0.611488588252,1.19818360605e-06,1.05001155224,0.582059823576,0.00867486570853,1.04966108759
+183,3.050000000,pose1_to_pose2_press,0.612152273997,1.24384856824e-06,1.05001136442,0.582723509024,0.00867491065676,1.04966090698
+184,3.066666667,pose1_to_pose2_press,0.612812899937,1.22936540571e-06,1.05001163744,0.583384135641,0.008674898323,1.04966117647
+185,3.083333333,pose1_to_pose2_press,0.613459046205,1.14889463006e-06,1.05001189061,0.58403028231,0.00867481894762,1.04966142313
+186,3.100000000,pose1_to_pose2_press,0.614084099204,1.15173068913e-06,1.05001149867,0.58465533511,0.0086748214048,1.04966103859
+187,3.116666667,pose1_to_pose2_press,0.614679417614,1.16501106195e-06,1.05001147893,0.585250654283,0.00867483706832,1.04966101383
+188,3.133333333,pose1_to_pose2_press,0.615244611685,1.22288396633e-06,1.05001156273,0.585815847793,0.00867489303868,1.04966109784
+189,3.150000000,pose1_to_pose2_press,0.615777279962,1.22715519825e-06,1.05001154688,0.586348515777,0.00867489644577,1.04966108541
+190,3.166666667,pose1_to_pose2_press,0.61628932549,1.1963249248e-06,1.05001182492,0.586860562541,0.00867486946731,1.04966135375
+191,3.183333333,pose1_to_pose2_press,0.616784728306,1.26819371118e-06,1.05001183253,0.587355963947,0.00867493668833,1.04966136324
+192,3.200000000,pose1_to_pose2_press,0.617260198914,1.32585109089e-06,1.05001162888,0.587831431963,0.00867498602241,1.04966116977
+193,3.216666667,pose1_to_pose2_press,0.61771382634,1.2015492449e-06,1.05001170548,0.588285061512,0.00867486880648,1.04966124094
+194,3.233333333,pose1_to_pose2_press,0.618137791085,1.0702252973e-06,1.05001159878,0.588709029274,0.00867474771306,1.04966113147
+195,3.250000000,pose1_to_pose2_press,0.618534328043,1.11012643516e-06,1.05001166201,0.589105565694,0.00867478576005,1.04966119127
+196,3.266666667,pose1_to_pose2_press,0.618904626946,1.24229570191e-06,1.05001161142,0.589475862546,0.00867491125489,1.04966114472
+197,3.283333333,pose1_to_pose2_press,0.61925558959,1.26785241604e-06,1.05001177221,0.589826824468,0.00867493448935,1.04966130687
+198,3.300000000,pose1_to_pose2_press,0.619589128889,1.16099977135e-06,1.0500115767,0.590160364082,0.00867482859295,1.04966110659
+199,3.316666667,pose1_to_pose2_press,0.619909974304,1.14156643219e-06,1.05001156761,0.590481209364,0.00867480892875,1.04966110109
+200,3.333333333,pose1_to_pose2_press,0.62021628611,1.3738915321e-06,1.05001159101,0.590787518853,0.00867503337151,1.04966112198
+201,3.350000000,pose1_to_pose2_press,0.620500306075,1.21892887257e-06,1.05001180507,0.591071541492,0.00867488768435,1.04966133885
+202,3.366666667,pose1_to_pose2_press,0.620759085731,1.30110049412e-06,1.05001170803,0.591330319664,0.00867496464917,1.04966123593
+203,3.383333333,pose1_to_pose2_press,0.620988806705,1.1735835771e-06,1.05001183129,0.591560040258,0.00867483575804,1.0496613552
+204,3.400000000,pose1_to_pose2_press,0.621190748441,1.35334024866e-06,1.0500116876,0.591761981713,0.00867501516437,1.04966122457
+205,3.416666667,pose1_to_pose2_press,0.621366200348,1.37897976919e-06,1.05001154191,0.591937434503,0.00867504419369,1.04966108789
+206,3.433333333,pose1_to_pose2_press,0.62152321465,1.27786319806e-06,1.05001152693,0.592094448954,0.00867494348848,1.04966106922
+207,3.450000000,pose1_to_pose2_press,0.621666133055,1.29031177366e-06,1.05001154267,0.592237366488,0.00867495289576,1.0496610819
+208,3.466666667,pose1_to_pose2_press,0.621798448206,1.26751086981e-06,1.05001155134,0.592369682296,0.00867493230449,1.04966108926
+209,3.483333333,pose1_to_pose2_press,0.621920709488,1.18462726896e-06,1.05001155037,0.592491945328,0.00867485540651,1.04966108836
+210,3.500000000,pose1_to_pose2_press,0.622031936112,1.29007493827e-06,1.05001165852,0.59260317084,0.00867495702881,1.0496611944
+211,3.516666667,pose1_to_pose2_press,0.622129144397,1.26170120878e-06,1.05001197113,0.59270037881,0.0086749270595,1.04966149348
+212,3.533333333,pose1_to_pose2_press,0.622212312964,1.13416449761e-06,1.05001184524,0.592783549014,0.0086748056783,1.04966138233
+213,3.550000000,pose1_to_pose2_press,0.622281584496,1.25969471599e-06,1.05001156523,0.592852818474,0.00867492445919,1.04966110432
+214,3.566666667,pose1_to_pose2_press,0.62233914924,1.47058018027e-06,1.05001181738,0.592910381749,0.00867513003559,1.04966134909
+215,3.583333333,pose1_to_pose2_press,0.622385928401,1.12213537415e-06,1.05001170528,0.592957163245,0.0086747895193,1.04966123814
+216,3.600000000,pose1_to_pose2_press,0.622425429789,1.32831899198e-06,1.05001168284,0.592996662471,0.00867498829779,1.04966121574
+217,3.616666667,pose1_to_pose2_press,0.622458250483,1.30775779463e-06,1.05001161499,0.593029483934,0.00867497037556,1.04966114663
+218,3.633333333,pose1_to_pose2_press,0.622484310222,1.23923092888e-06,1.05001155861,0.593055544352,0.00867490431999,1.04966109447
+219,3.650000000,pose1_to_pose2_press,0.622504738512,1.32459666965e-06,1.05001152969,0.593075971134,0.00867498481804,1.04966107299
+220,3.666666667,pose1_to_pose2_press,0.622520720535,1.36017810227e-06,1.05001165306,0.59309195305,0.00867501998401,1.04966119465
+221,3.683333333,pose1_to_pose2_press,0.622532324184,1.18484582124e-06,1.0500118789,0.593103559853,0.00867485486948,1.04966140787
+222,3.700000000,pose1_to_pose2_press,0.622539209162,1.25906935839e-06,1.0500116111,0.593110443046,0.00867492310558,1.04966114158
+223,3.716666667,pose1_to_pose2_press,0.62254403385,1.19064627314e-06,1.05001167226,0.593115268048,0.00867485557084,1.04966119845
+224,3.733333333,pose1_to_pose2_press,0.622547015355,1.1572934126e-06,1.05001167272,0.593118249714,0.0086748227648,1.04966119895
+225,3.750000000,pose1_to_pose2_press,0.622548585641,1.18614145082e-06,1.05001154004,0.593119819645,0.00867485067641,1.04966107285
+226,3.766666667,pose1_to_pose2_press,0.62254954435,1.20375409281e-06,1.05001145903,0.593120778137,0.00867486771733,1.04966099586
+227,3.783333333,pose1_to_pose2_press,0.622550400281,1.23007772695e-06,1.05001147844,0.593121633826,0.00867489318506,1.04966101433
+228,3.800000000,pose1_to_pose2_press,0.622551035042,1.25940535479e-06,1.05001157769,0.593122268364,0.00867492155833,1.0496611087
+229,3.816666667,pose1_to_pose2_press,0.622551471534,1.27957242302e-06,1.05001164595,0.593122704702,0.00867494106913,1.0496611736
+230,3.833333333,pose1_to_pose2_press,0.622551740716,1.29200932774e-06,1.05001168804,0.593122973789,0.00867495310132,1.04966121362
+231,3.850000000,pose1_to_pose2_press,0.622551845227,1.29683798175e-06,1.05001170438,0.593123078263,0.00867495777285,1.04966122916
+232,3.866666667,pose1_to_pose2_press,0.622551850023,1.29705958019e-06,1.05001170513,0.593123083057,0.00867495798723,1.04966122987
+233,3.883333333,pose1_to_pose2_press,0.622551981062,1.30311394288e-06,1.05001172562,0.59312321405,0.00867496384458,1.04966124935
+234,3.900000000,pose1_to_pose2_press,0.622552254958,1.29374613441e-06,1.0500116728,0.593123488291,0.00867495582339,1.04966120082
+235,3.916666667,pose1_to_pose2_press,0.622552358379,1.2899618408e-06,1.05001165178,0.593123591849,0.0086749525673,1.04966118149
+236,3.933333333,pose1_to_pose2_press,0.622552467832,1.28595688787e-06,1.05001162953,0.593123701444,0.00867494912135,1.04966116104
+237,3.950000000,pose1_to_pose2_press,0.622552487945,1.28522092434e-06,1.05001162544,0.593123721584,0.00867494848811,1.04966115728
+238,3.966666667,pose1_to_pose2_press,0.622552493795,1.28500686911e-06,1.05001162426,0.593123727442,0.00867494830393,1.04966115619
+239,3.983333333,pose1_to_pose2_press,0.622552862312,1.27152249654e-06,1.05001154936,0.593124096442,0.00867493670168,1.04966108732
+240,4.000000000,pose1_to_pose2_press,0.622553050422,1.24411366596e-06,1.05001154059,0.59312428431,0.00867490851946,1.04966107951
+241,4.016666667,pose1_to_pose2_press,0.622553056932,1.24309130954e-06,1.05001154039,0.593124290809,0.0086749074641,1.04966107934
+242,4.033333333,pose1_to_pose2_press,0.62255306744,1.24144081526e-06,1.05001154007,0.593124301301,0.00867490576032,1.04966107907
+243,4.050000000,pose1_to_pose2_press,0.622553088439,1.2381426933e-06,1.05001153944,0.593124322267,0.00867490235571,1.04966107851
+244,4.066666667,pose1_to_pose2_press,0.622553059203,1.27623482502e-06,1.05001140528,0.593124292725,0.00867493954261,1.04966094765
+245,4.083333333,pose2_hold,0.622553059203,1.27623482502e-06,1.05001140528,0.593124292726,0.00867493954249,1.04966094765
+246,4.100000000,pose2_hold,0.622553059203,1.27623482502e-06,1.05001140528,0.593124292725,0.00867493954297,1.04966094765
+247,4.116666667,pose2_hold,0.622553059203,1.27623482502e-06,1.05001140528,0.593124292726,0.00867493954291,1.04966094765
+248,4.133333333,pose2_hold,0.622553059203,1.27623482502e-06,1.05001140528,0.593124292726,0.00867493954253,1.04966094765
+249,4.150000000,pose2_hold,0.622553059203,1.27623482502e-06,1.05001140528,0.593124292725,0.00867493954296,1.04966094765
+250,4.166666667,pose2_hold,0.622553059203,1.27623482502e-06,1.05001140528,0.593124292726,0.00867493954292,1.04966094765
+251,4.183333333,pose2_hold,0.622553059203,1.27623482502e-06,1.05001140528,0.593124292726,0.0086749395426,1.04966094765
+252,4.200000000,pose2_hold,0.622553059203,1.27623482502e-06,1.05001140528,0.593124292725,0.00867493954298,1.04966094765
+253,4.216666667,pose2_hold,0.622553059203,1.27623482502e-06,1.05001140528,0.593124292726,0.00867493954292,1.04966094765
+254,4.233333333,pose2_hold,0.622553059203,1.27623482502e-06,1.05001140528,0.593124292726,0.0086749395424,1.04966094765
+255,4.250000000,pose2_hold,0.622553059203,1.27623482502e-06,1.05001140528,0.593124292725,0.0086749395428,1.04966094765
+256,4.266666667,pose2_hold,0.622553059203,1.27623482502e-06,1.05001140528,0.593124292726,0.00867493954242,1.04966094765
+257,4.283333333,pose2_hold,0.622553059203,1.27623482502e-06,1.05001140528,0.593124292726,0.00867493954277,1.04966094765
+258,4.300000000,pose2_hold,0.622553059203,1.27623482502e-06,1.05001140528,0.593124292726,0.00867493954292,1.04966094765
+259,4.316666667,pose2_hold,0.622553059203,1.27623482502e-06,1.05001140528,0.593124292726,0.00867493954243,1.04966094765
+260,4.333333333,pose2_hold,0.622553059203,1.27623482502e-06,1.05001140528,0.593124292726,0.00867493954241,1.04966094765
+261,4.350000000,pose2_hold,0.622553059203,1.27623482502e-06,1.05001140528,0.593124292726,0.00867493954276,1.04966094765
+262,4.366666667,pose2_hold,0.622553059203,1.27623482502e-06,1.05001140528,0.593124292726,0.00867493954285,1.04966094765
+263,4.383333333,pose2_to_pose3_retreat,0.622553059203,1.27623482502e-06,1.05001140528,0.593124292726,0.00867493954285,1.04966094765
+264,4.400000000,pose2_to_pose3_retreat,0.622553083228,1.26555995393e-06,1.05001149834,0.593124316982,0.00867492965332,1.04966104064
+265,4.416666667,pose2_to_pose3_retreat,0.622553060945,1.27654769265e-06,1.05001151144,0.593124294492,0.00867493990343,1.04966105295
+266,4.433333333,pose2_to_pose3_retreat,0.622552978276,1.3165522632e-06,1.0500114904,0.593124211046,0.00867497717776,1.04966102957
+267,4.450000000,pose2_to_pose3_retreat,0.622552963042,1.32392386212e-06,1.05001148652,0.59312419567,0.00867498404626,1.04966102526
+268,4.466666667,pose2_to_pose3_retreat,0.622552835217,1.38577942072e-06,1.05001145399,0.593124066645,0.00867504168029,1.04966098911
+269,4.483333333,pose2_to_pose3_retreat,0.622551333786,1.31794113319e-06,1.05001146943,0.593122568026,0.00867498323297,1.04966100033
+270,4.500000000,pose2_to_pose3_retreat,0.62254647599,1.32988026967e-06,1.05001149392,0.593117708221,0.00867498851654,1.04966102922
+271,4.516666667,pose2_to_pose3_retreat,0.622535243006,1.43977422195e-06,1.05001176908,0.593106474189,0.00867509505236,1.04966131009
+272,4.533333333,pose2_to_pose3_retreat,0.622514711424,1.27177578534e-06,1.05001181325,0.593085945364,0.008674935938,1.04966134367
+273,4.550000000,pose2_to_pose3_retreat,0.622483470849,1.3059128027e-06,1.0500116823,0.593054704332,0.00867496883331,1.04966122135
+274,4.566666667,pose2_to_pose3_retreat,0.622442025254,1.28204153957e-06,1.05001173413,0.593013258764,0.00867494515736,1.0496612766
+275,4.583333333,pose2_to_pose3_retreat,0.622391287139,1.38652519222e-06,1.05001159787,0.592962520758,0.0086750499097,1.04966113841
+276,4.600000000,pose2_to_pose3_retreat,0.622331445594,1.34971760564e-06,1.05001171303,0.592902679256,0.00867501313803,1.04966125157
+277,4.616666667,pose2_to_pose3_retreat,0.622264002491,1.22679647053e-06,1.05001155724,0.592835237793,0.00867489567091,1.04966109437
+278,4.633333333,pose2_to_pose3_retreat,0.622188888732,1.32578579137e-06,1.05001158194,0.592760122915,0.0086749910781,1.04966112391
+279,4.650000000,pose2_to_pose3_retreat,0.622101901564,1.22346430317e-06,1.05001171984,0.592673137325,0.00867489427007,1.04966126544
+280,4.666666667,pose2_to_pose3_retreat,0.622002483281,1.27955245442e-06,1.05001136458,0.592573717199,0.00867494438449,1.04966091635
+281,4.683333333,pose2_to_pose3_retreat,0.621887852722,1.24373378834e-06,1.05001174926,0.592459086874,0.00867490871852,1.04966128606
+282,4.700000000,pose2_to_pose3_retreat,0.621757628881,1.2831011915e-06,1.0500117832,0.592328862525,0.00867494635924,1.04966132105
+283,4.716666667,pose2_to_pose3_retreat,0.621609110255,1.35508669497e-06,1.05001180254,0.592180343484,0.00867501669625,1.04966133557
+284,4.733333333,pose2_to_pose3_retreat,0.621443244145,1.33946521886e-06,1.05001164283,0.592014477271,0.00867500083197,1.04966117973
+285,4.750000000,pose2_to_pose3_retreat,0.621259245128,1.27206386464e-06,1.05001162213,0.591830479362,0.00867493706638,1.04966115715
+286,4.766666667,pose2_to_pose3_retreat,0.621056909754,1.25159096337e-06,1.05001180347,0.591628144529,0.0086749182055,1.04966133438
+287,4.783333333,pose2_to_pose3_retreat,0.620836009339,1.3145719828e-06,1.05001183466,0.591407243071,0.00867497783039,1.0496613718
+288,4.800000000,pose2_to_pose3_retreat,0.620592524047,1.3543461061e-06,1.05001158273,0.591163757314,0.00867501618901,1.04966112557
+289,4.816666667,pose2_to_pose3_retreat,0.620325918801,1.23385879323e-06,1.0500114969,0.590897152939,0.00867489822982,1.04966103142
+290,4.833333333,pose2_to_pose3_retreat,0.620033042038,1.31999675641e-06,1.0500118306,0.590604276807,0.00867498622394,1.04966136015
+291,4.850000000,pose2_to_pose3_retreat,0.619711591182,1.23075181831e-06,1.05001197271,0.590282826666,0.00867489893489,1.04966149306
+292,4.866666667,pose2_to_pose3_retreat,0.619360943008,1.22253923465e-06,1.0500116795,0.589932177673,0.00867488844256,1.04966121419
+293,4.883333333,pose2_to_pose3_retreat,0.618978819736,1.24412781209e-06,1.05001166679,0.589550055457,0.00867491359243,1.04966120364
+294,4.900000000,pose2_to_pose3_retreat,0.61857015811,1.35419048854e-06,1.05001169795,0.589141392415,0.0086750184391,1.04966122861
+295,4.916666667,pose2_to_pose3_retreat,0.618140189648,1.24663996762e-06,1.05001155242,0.588711423671,0.00867491027604,1.04966109284
+296,4.933333333,pose2_to_pose3_retreat,0.617693337285,1.39345626335e-06,1.05001167485,0.58826457013,0.00867505270162,1.04966120826
+297,4.950000000,pose2_to_pose3_retreat,0.617229807899,1.33035589751e-06,1.05001159332,0.587801041539,0.00867499218678,1.04966112671
+298,4.966666667,pose2_to_pose3_retreat,0.616743973791,1.13076064311e-06,1.05001163996,0.587315210702,0.00867480363544,1.04966117493
+299,4.983333333,pose2_to_pose3_retreat,0.61623156549,1.15111260386e-06,1.05001156994,0.586802801545,0.00867482134136,1.04966111225
+300,5.000000000,pose2_to_pose3_retreat,0.615680745466,1.33414704056e-06,1.05001176002,0.586251980044,0.00867499923076,1.04966129908
+301,5.016666667,pose2_to_pose3_retreat,0.615094462179,1.26604764364e-06,1.05001169967,0.585665697859,0.00867493475528,1.04966123609
+302,5.033333333,pose2_to_pose3_retreat,0.61447462231,1.19983552095e-06,1.05001164015,0.585045858869,0.00867487139023,1.04966117285
+303,5.050000000,pose2_to_pose3_retreat,0.613840256651,1.22693415858e-06,1.05001163933,0.584411492233,0.00867489499023,1.04966116837
+304,5.066666667,pose2_to_pose3_retreat,0.613197407735,1.20681705488e-06,1.05001157327,0.583768642676,0.00867487276646,1.04966110412
+305,5.083333333,pose2_to_pose3_retreat,0.612534045894,1.2911923353e-06,1.05001157699,0.583105280156,0.00867495488663,1.049661108
+306,5.100000000,pose2_to_pose3_retreat,0.611848208976,1.38050826508e-06,1.05001162106,0.582419442307,0.00867504116996,1.04966115489
+307,5.116666667,pose2_to_pose3_retreat,0.611139550571,1.32822609172e-06,1.05001166795,0.581710783899,0.00867498910264,1.04966120673
+308,5.133333333,pose2_to_pose3_retreat,0.610408260148,1.29847563616e-06,1.05001163065,0.580979493206,0.00867495835763,1.04966116732
+309,5.150000000,pose2_to_pose3_retreat,0.609656566762,1.32831092378e-06,1.05001162242,0.58022779952,0.00867498720217,1.04966116013
+310,5.166666667,pose2_to_pose3_retreat,0.608900877612,1.37212081861e-06,1.05001172468,0.579472111758,0.008675035757,1.04966126333
+311,5.183333333,pose2_to_pose3_retreat,0.608141290595,1.21786845855e-06,1.05001159516,0.578712526838,0.00867488862043,1.04966113367
+312,5.200000000,pose2_to_pose3_retreat,0.607373143447,1.16163816606e-06,1.05001176755,0.57794437959,0.00867483187383,1.04966130165
+313,5.216666667,pose2_to_pose3_retreat,0.606592737711,1.18331348789e-06,1.05001154773,0.577163974856,0.00867485727425,1.04966108984
+314,5.233333333,pose2_to_pose3_retreat,0.605795183277,1.29715105289e-06,1.0500117798,0.576366417801,0.00867496214745,1.04966132003
+315,5.250000000,pose2_to_pose3_retreat,0.604978552461,1.25534867731e-06,1.05001179163,0.575549787404,0.00867492160099,1.04966132771
+316,5.266666667,pose2_to_pose3_retreat,0.604139688925,1.27816749497e-06,1.05001166001,0.574710922777,0.00867494095746,1.04966120186
+317,5.283333333,pose2_to_pose3_retreat,0.603301044316,1.25472077317e-06,1.05001155885,0.573872276701,0.00867491228052,1.0496610944
+318,5.300000000,pose2_to_pose3_retreat,0.602463819657,1.45857068898e-06,1.05001156039,0.573035051009,0.00867511261583,1.04966109568
+319,5.316666667,pose2_to_pose3_retreat,0.60161845261,1.24290291746e-06,1.0500115534,0.57218968741,0.00867490868624,1.04966108955
+320,5.333333333,pose2_to_pose3_retreat,0.600777321232,1.27926960035e-06,1.05001165639,0.571348555978,0.00867494476705,1.04966119002
+321,5.350000000,pose2_to_pose3_retreat,0.599950484691,1.2597562261e-06,1.05001150491,0.570521718795,0.00867492316253,1.04966104063
+322,5.366666667,pose2_to_pose3_retreat,0.599121432644,1.34091244161e-06,1.05001166407,0.569692667003,0.00867500522853,1.04966120078
+323,5.383333333,pose2_to_pose3_retreat,0.598289547311,1.37430174405e-06,1.05001180367,0.5688607803,0.00867503382752,1.04966133693
+324,5.400000000,pose2_to_pose3_retreat,0.597452970693,1.27367987134e-06,1.05001160385,0.568024203854,0.00867493384228,1.0496611383
+325,5.416666667,pose2_to_pose3_retreat,0.596611592728,1.21373889513e-06,1.05001153774,0.567182827047,0.00867487801837,1.04966107682
+326,5.433333333,pose2_to_pose3_retreat,0.59577084371,1.22025495736e-06,1.0500116616,0.566342078095,0.0086748847284,1.0496611999
+327,5.450000000,pose2_to_pose3_retreat,0.594938901505,1.24376514826e-06,1.05001155181,0.565510135731,0.00867490776222,1.04966109163
+328,5.466666667,pose2_to_pose3_retreat,0.594122648324,1.25572877577e-06,1.05001151417,0.564693882802,0.00867492058022,1.04966105392
+329,5.483333333,pose2_to_pose3_retreat,0.593334574113,1.2785703247e-06,1.05001168019,0.563905808439,0.00867494263064,1.04966121314
+330,5.500000000,pose2_to_pose3_retreat,0.592571883502,1.40944315394e-06,1.05001166402,0.563143116203,0.00867506816291,1.04966120127
+331,5.516666667,pose2_to_pose3_retreat,0.591831872869,1.42595200146e-06,1.05001165231,0.562403106352,0.00867508754887,1.04966119507
+332,5.533333333,pose2_to_pose3_retreat,0.591102175223,1.2906265272e-06,1.05001167883,0.561673409963,0.0086749561788,1.04966121389
+333,5.550000000,pose2_to_pose3_retreat,0.590369416435,1.20616624552e-06,1.05001168954,0.560940650966,0.00867487090403,1.04966122189
+334,5.566666667,pose2_to_pose3_retreat,0.589639588028,1.17908706752e-06,1.05001167928,0.560210824272,0.00867484967902,1.04966121276
+335,5.583333333,pose2_to_pose3_retreat,0.588915662465,1.43462071773e-06,1.05001161284,0.559486894646,0.00867509206954,1.0496611622
+336,5.600000000,pose2_to_pose3_retreat,0.588215057749,1.24812480985e-06,1.05001168498,0.558786292216,0.00867491269727,1.0496612187
+337,5.616666667,pose2_to_pose3_retreat,0.587544913698,1.25168198749e-06,1.05001180532,0.558116149245,0.00867491986452,1.04966133763
+338,5.633333333,pose2_to_pose3_retreat,0.586914578919,1.40369910466e-06,1.05001181305,0.557485810635,0.00867505889933,1.04966134578
+339,5.650000000,pose2_to_pose3_retreat,0.586317532947,1.38063712716e-06,1.05001180942,0.556888767171,0.00867504430501,1.04966134108
+340,5.666666667,pose2_to_pose3_retreat,0.585749831045,1.31717380136e-06,1.05001159846,0.556321065656,0.00867498252164,1.04966113922
+341,5.683333333,pose2_to_pose3_retreat,0.585193378182,1.2265998627e-06,1.05001144415,0.555764612321,0.00867489043914,1.04966098726
+342,5.700000000,pose2_to_pose3_retreat,0.584647179771,1.18356164011e-06,1.0500114388,0.55521841441,0.00867484876906,1.04966097383
+343,5.716666667,pose2_to_pose3_retreat,0.58412290217,1.14418572525e-06,1.05001164727,0.554694138292,0.0086748143096,1.04966117942
+344,5.733333333,pose2_to_pose3_retreat,0.583622345288,1.17079163363e-06,1.05001173379,0.554193581546,0.00867484155312,1.04966127032
+345,5.750000000,pose2_to_pose3_retreat,0.583149227439,1.16136660072e-06,1.05001173321,0.55372046413,0.00867483351331,1.04966126763
+346,5.766666667,pose2_to_pose3_retreat,0.582699109767,1.13183334e-06,1.05001172423,0.553270346373,0.0086748034425,1.04966125252
+347,5.783333333,pose2_to_pose3_retreat,0.58227101361,1.21230559525e-06,1.0500116313,0.552842247802,0.00867487568513,1.04966115862
+348,5.800000000,pose2_to_pose3_retreat,0.581859175687,1.235114849e-06,1.0500116809,0.552430409945,0.00867489903397,1.04966121609
+349,5.816666667,pose2_to_pose3_retreat,0.581466179579,1.31717407873e-06,1.05001157548,0.552037413703,0.00867498124577,1.04966112566
+350,5.833333333,pose2_to_pose3_retreat,0.581104487958,1.33633975471e-06,1.05001151031,0.551675721373,0.00867499756184,1.0496610495
+351,5.850000000,pose2_to_pose3_retreat,0.580775784204,1.27246181192e-06,1.05001155165,0.55134701833,0.00867493576841,1.04966108279
+352,5.866666667,pose2_to_pose3_retreat,0.580483426675,1.34832992986e-06,1.05001174832,0.551054660186,0.00867500962835,1.04966128139
+353,5.883333333,pose2_to_pose3_retreat,0.580221544346,1.36224920355e-06,1.05001155667,0.550792778239,0.00867502515869,1.04966109763
+354,5.900000000,pose2_to_pose3_retreat,0.579987182501,1.34471251827e-06,1.0500117897,0.550558416953,0.00867500937663,1.04966132712
+355,5.916666667,pose2_to_pose3_retreat,0.579768794493,1.24504678504e-06,1.05001158736,0.550340030783,0.00867491587706,1.0496611231
+356,5.933333333,pose2_to_pose3_retreat,0.579564704593,1.28650731276e-06,1.05001165313,0.550135939585,0.00867495287816,1.04966118761
+357,5.950000000,pose2_to_pose3_retreat,0.579375638883,1.18433592843e-06,1.05001161492,0.5499468746,0.00867485303775,1.04966114623
+358,5.966666667,pose2_to_pose3_retreat,0.579202590527,1.3171613031e-06,1.05001166384,0.549773823391,0.00867497609258,1.04966119295
+359,5.983333333,pose2_to_pose3_retreat,0.579047825534,1.43584461879e-06,1.05001185179,0.549619057271,0.00867509093449,1.04966138053
+360,6.000000000,pose2_to_pose3_retreat,0.578911491342,1.29116325776e-06,1.05001178739,0.549482726137,0.00867495689794,1.0496613228
+361,6.016666667,pose2_to_pose3_retreat,0.578793055791,1.17770788566e-06,1.05001177263,0.549364292321,0.00867484951108,1.0496613126
+362,6.033333333,pose2_to_pose3_retreat,0.578691090318,1.1878111997e-06,1.05001186446,0.549262326872,0.00867485953613,1.04966140076
+363,6.050000000,pose2_to_pose3_retreat,0.578603249464,1.26851127982e-06,1.05001184974,0.549174485546,0.0086749384261,1.04966138136
+364,6.066666667,pose2_to_pose3_retreat,0.578528764082,1.37805641765e-06,1.05001190974,0.54909999865,0.00867504279328,1.04966144014
+365,6.083333333,pose2_to_pose3_retreat,0.578465882736,1.1637631495e-06,1.05001178917,0.549037119261,0.00867483533873,1.04966132433
+366,6.100000000,pose2_to_pose3_retreat,0.578414331443,1.37195476173e-06,1.05001173309,0.548985563628,0.00867502928688,1.04966128012
+367,6.116666667,pose2_to_pose3_retreat,0.57837187013,1.27902701755e-06,1.05001171651,0.548943102567,0.0086749362715,1.04966124017
+368,6.133333333,pose2_to_pose3_retreat,0.578337867063,1.42946018729e-06,1.05001167254,0.548909098691,0.00867508450579,1.04966120968
+369,6.150000000,pose2_to_pose3_retreat,0.578312254326,1.21158313078e-06,1.05001180777,0.548883488835,0.00867487611546,1.04966133783
+370,6.166666667,pose2_to_pose3_retreat,0.578293140741,1.23582954844e-06,1.05001173816,0.548864375438,0.00867490103183,1.04966126897
+371,6.183333333,pose2_to_pose3_retreat,0.578279705375,1.32053939947e-06,1.05001176313,0.54885093987,0.00867498509843,1.04966129507
+372,6.200000000,pose2_to_pose3_retreat,0.578270950661,1.39437524773e-06,1.0500118221,0.54884218455,0.00867505677785,1.04966135156
+373,6.216666667,pose2_to_pose3_retreat,0.578266274982,1.44393258511e-06,1.05001184494,0.548837507828,0.00867510258629,1.04966136917
+374,6.233333333,pose2_to_pose3_retreat,0.578263333489,1.45351237175e-06,1.05001184404,0.548834566028,0.00867511105682,1.04966136663
+375,6.250000000,pose2_to_pose3_retreat,0.578261815572,1.38954858789e-06,1.05001179485,0.548833049065,0.00867505050633,1.0496613219
+376,6.266666667,pose2_to_pose3_retreat,0.57826128525,1.36720126677e-06,1.05001177767,0.548832519076,0.00867502935152,1.04966130627
+377,6.283333333,pose2_to_pose3_retreat,0.57826100521,1.35540059039e-06,1.0500117686,0.548832239212,0.00867501818056,1.04966129801
+378,6.300000000,pose2_to_pose3_retreat,0.57826062723,1.33947279916e-06,1.05001175635,0.548831861469,0.00867500310272,1.04966128687
+379,6.316666667,pose2_to_pose3_retreat,0.578259958627,1.31129844355e-06,1.05001173468,0.548831193286,0.00867497643183,1.04966126717
+380,6.333333333,pose2_to_pose3_retreat,0.578258968433,1.26957246708e-06,1.0500117026,0.548830203714,0.00867493693247,1.04966123798
+381,6.350000000,pose2_to_pose3_retreat,0.578258108831,1.23334952834e-06,1.05001167474,0.548829344652,0.00867490264249,1.04966121265
+382,6.366666667,pose2_to_pose3_retreat,0.578257556018,1.22445776329e-06,1.05001164559,0.548828791874,0.00867489392281,1.04966118474
+383,6.383333333,pose2_to_pose3_retreat,0.578257391835,1.22701475626e-06,1.05001163287,0.54882862759,0.00867489614441,1.04966117225
+384,6.400000000,pose2_to_pose3_retreat,0.578257282776,1.22871325881e-06,1.05001162442,0.548828518463,0.00867489762013,1.04966116396
+385,6.416666667,pose2_to_pose3_retreat,0.578257083921,1.23181024243e-06,1.05001160902,0.548828319485,0.0086749003109,1.04966114884
+386,6.433333333,pose2_to_pose3_retreat,0.578256829711,1.23576933638e-06,1.05001158933,0.548828065118,0.00867490375069,1.04966112951
+387,6.450000000,pose2_to_pose3_retreat,0.578256286774,1.24422509727e-06,1.05001154728,0.548827521844,0.00867491109735,1.04966108823
+388,6.466666667,pose2_to_pose3_retreat,0.57825596392,1.24925325112e-06,1.05001152228,0.548827198791,0.00867491546598,1.04966106369
+389,6.483333333,pose2_to_pose3_retreat,0.578255926912,1.24982961708e-06,1.05001151941,0.54882716176,0.00867491596674,1.04966106087
+390,6.500000000,pose2_to_pose3_retreat,0.57825553833,1.25588142994e-06,1.05001148932,0.548826772938,0.00867492122477,1.04966103133
+391,6.516666667,pose2_to_pose3_retreat,0.578254834567,1.2668419086e-06,1.05001143481,0.548826068739,0.0086749307476,1.04966097782
+392,6.533333333,pose2_to_pose3_retreat,0.578254044222,1.27065776381e-06,1.05001151581,0.548825278835,0.00867493599551,1.04966105717
+393,6.550000000,pose2_to_pose3_retreat,0.578253858936,1.27009053142e-06,1.05001155928,0.548825093813,0.00867493628837,1.04966109978
+394,6.566666667,pose2_to_pose3_retreat,0.578253677203,1.26953417661e-06,1.05001160191,0.548824912339,0.00867493657562,1.04966114156
+395,6.583333333,pose2_to_pose3_retreat,0.57825338994,1.26865475064e-06,1.0500116693,0.548824625484,0.00867493702966,1.04966120762
+396,6.600000000,pose2_to_pose3_retreat,0.578252965864,1.26735648894e-06,1.05001176878,0.548824202012,0.00867493769995,1.04966130513
+397,6.616666667,pose2_to_pose3_retreat,0.578252535546,1.29884909986e-06,1.05001158754,0.548823770655,0.0086749656481,1.04966112344
+398,6.633333333,pose2_to_pose3_retreat,0.578252379427,1.31424695872e-06,1.05001148762,0.548823613958,0.00867497908906,1.04966102354
+399,6.650000000,pose2_to_pose3_retreat,0.578252332602,1.31886518098e-06,1.05001145765,0.548823566961,0.00867498312035,1.04966099358
+400,6.666666667,pose2_to_pose3_retreat,0.578252283309,1.32327463819e-06,1.0500114508,0.548823517531,0.00867498706926,1.04966098685
+401,6.683333333,pose2_to_pose3_retreat,0.578252213842,1.32737193453e-06,1.05001155673,0.548823448081,0.00867499125391,1.04966109348
+402,6.700000000,pose2_to_pose3_retreat,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537867,1.04966119859

Part2/Obstacle_avoidance/ball_0030_17.5/position_01/depth_03/fem_node.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8145fb9a23ce93d4be9a9f78272f24a07ab8310e28ca4a8ec50bc5ab5075f5c7
+size 25849753

Part2/Obstacle_avoidance/ball_0030_17.5/position_01/depth_03/simulation_data.csv

@@ -0,0 +1,408 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+1,0.016666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+2,0.033333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+3,0.050000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+4,0.066666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+5,0.083333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+6,0.100000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+7,0.116666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+8,0.133333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+9,0.150000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+10,0.166666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+11,0.183333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+12,0.200000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+13,0.216666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+14,0.233333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+15,0.250000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+16,0.266666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+17,0.283333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+18,0.300000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+19,0.316666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+20,0.333333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+21,0.350000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+22,0.366666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+23,0.383333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+24,0.400000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+25,0.416666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+26,0.433333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+27,0.450000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+28,0.466666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+29,0.483333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+30,0.500000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+31,0.516666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+32,0.533333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+33,0.550000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+34,0.566666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+35,0.583333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+36,0.600000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+37,0.616666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+38,0.633333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+39,0.650000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+40,0.666666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+41,0.683333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+42,0.700000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+43,0.716666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+44,0.733333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+45,0.750000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+46,0.766666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+47,0.783333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+48,0.800000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+49,0.816666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+50,0.833333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+51,0.850000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+52,0.866666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+53,0.883333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+54,0.900000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+55,0.916666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+56,0.933333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+57,0.950000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+58,0.966666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+59,0.983333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+60,1.000000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+61,1.016666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+62,1.033333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+63,1.050000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+64,1.066666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+65,1.083333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+66,1.100000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+67,1.116666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+68,1.133333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+69,1.150000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+70,1.166666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+71,1.183333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+72,1.200000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+73,1.216666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+74,1.233333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+75,1.250000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+76,1.266666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+77,1.283333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+78,1.300000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+79,1.316666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+80,1.333333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+81,1.350000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+82,1.366666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+83,1.383333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+84,1.400000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+85,1.416666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+86,1.433333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+87,1.450000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+88,1.466666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+89,1.483333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+90,1.500000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+91,1.516666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+92,1.533333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+93,1.550000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+94,1.566666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+95,1.583333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+96,1.600000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+97,1.616666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+98,1.633333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+99,1.650000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+100,1.666666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+101,1.683333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+102,1.700000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+103,1.716666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+104,1.733333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+105,1.750000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+106,1.766666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+107,1.783333333,pose1_to_pose2_press,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+108,1.800000000,pose1_to_pose2_press,0.578252257022,1.36485092139e-06,1.05001158326,0.548823490805,0.00867502715468,1.04966111928
+109,1.816666667,pose1_to_pose2_press,0.578252389676,1.3526265215e-06,1.05001157983,0.54882362394,0.0086750165425,1.04966111537
+110,1.833333333,pose1_to_pose2_press,0.57825245115,1.33707250707e-06,1.0500115952,0.548823685836,0.00867500241884,1.04966113075
+111,1.850000000,pose1_to_pose2_press,0.578252574218,1.3059342565e-06,1.05001162599,0.548823809747,0.00867497414407,1.04966116154
+112,1.866666667,pose1_to_pose2_press,0.578252809219,1.26171576789e-06,1.05001167486,0.548824045887,0.00867493378622,1.04966121033
+113,1.883333333,pose1_to_pose2_press,0.578253521993,1.34490770903e-06,1.0500116819,0.548824755378,0.00867500577081,1.04966121568
+114,1.900000000,pose1_to_pose2_press,0.57825483794,1.39202192255e-06,1.05001167424,0.548826069389,0.00867504638184,1.04966120956
+115,1.916666667,pose1_to_pose2_press,0.578257262218,1.31703545668e-06,1.05001164247,0.548828495892,0.00867497922502,1.04966118475
+116,1.933333333,pose1_to_pose2_press,0.578264243113,1.24192030962e-06,1.05001177076,0.548835476991,0.00867490442089,1.04966130356
+117,1.950000000,pose1_to_pose2_press,0.57827785687,1.35262937846e-06,1.05001182719,0.548849090044,0.00867501285444,1.04966136275
+118,1.966666667,pose1_to_pose2_press,0.57830246391,1.26712957392e-06,1.05001186792,0.548873698258,0.00867493095379,1.04966139399
+119,1.983333333,pose1_to_pose2_press,0.578337860558,1.24716016927e-06,1.05001161082,0.548909095403,0.00867491324186,1.04966115091
+120,2.000000000,pose1_to_pose2_press,0.578384388272,1.30392892358e-06,1.05001177532,0.548955622771,0.00867496856129,1.04966130859
+121,2.016666667,pose1_to_pose2_press,0.578439765696,1.24594628839e-06,1.05001177689,0.549010998631,0.00867490542305,1.04966131371
+122,2.033333333,pose1_to_pose2_press,0.578502892741,1.13812384814e-06,1.05001165156,0.5490741289,0.00867480852248,1.04966118803
+123,2.050000000,pose1_to_pose2_press,0.578574385494,1.06352460661e-06,1.05001152697,0.54914562258,0.00867473713997,1.04966106507
+124,2.066666667,pose1_to_pose2_press,0.578654922325,1.18776246221e-06,1.0500114312,0.549226157962,0.00867485681009,1.04966097789
+125,2.083333333,pose1_to_pose2_press,0.578747606314,1.15954213298e-06,1.05001179157,0.549318841869,0.00867482775368,1.04966132436
+126,2.100000000,pose1_to_pose2_press,0.578852641623,1.36336066955e-06,1.05001156938,0.549423873105,0.00867501766079,1.04966109989
+127,2.116666667,pose1_to_pose2_press,0.57897258758,1.24690163798e-06,1.05001154297,0.549543822027,0.00867491155938,1.04966108085
+128,2.133333333,pose1_to_pose2_press,0.579105794107,1.28908469913e-06,1.05001153155,0.549677029345,0.00867495657278,1.04966107297
+129,2.150000000,pose1_to_pose2_press,0.579253881389,1.24872779407e-06,1.05001184502,0.549825117284,0.00867491816377,1.04966137944
+130,2.166666667,pose1_to_pose2_press,0.579420080087,1.29392070205e-06,1.05001168288,0.549991314349,0.00867495770627,1.04966121449
+131,2.183333333,pose1_to_pose2_press,0.57960483874,1.31216901941e-06,1.05001138114,0.550176072395,0.00867497429938,1.04966092269
+132,2.200000000,pose1_to_pose2_press,0.579810200924,1.30221500895e-06,1.05001157704,0.550381434928,0.00867496546919,1.04966111715
+133,2.216666667,pose1_to_pose2_press,0.580034363368,1.26457963656e-06,1.05001173502,0.550605599218,0.00867493385358,1.04966126902
+134,2.233333333,pose1_to_pose2_press,0.580275817032,1.16943648863e-06,1.05001165502,0.550847054525,0.00867484449231,1.04966119413
+135,2.250000000,pose1_to_pose2_press,0.580533632633,1.13960642988e-06,1.05001165744,0.551104869461,0.0086748124332,1.04966119718
+136,2.266666667,pose1_to_pose2_press,0.580808425399,1.22372738522e-06,1.05001173712,0.551379660277,0.00867488958274,1.04966126801
+137,2.283333333,pose1_to_pose2_press,0.581102993479,1.25260991853e-06,1.05001180365,0.551674226867,0.0086749135007,1.04966133676
+138,2.300000000,pose1_to_pose2_press,0.581419214896,1.24461810812e-06,1.05001174952,0.551990448589,0.00867490655172,1.04966128271
+139,2.316666667,pose1_to_pose2_press,0.581765018062,1.1047176149e-06,1.050011388,0.552336255573,0.00867478012013,1.04966093387
+140,2.333333333,pose1_to_pose2_press,0.582140834577,1.25455467717e-06,1.05001139988,0.552712069577,0.00867492146174,1.04966094633
+141,2.350000000,pose1_to_pose2_press,0.58255069809,1.27493168545e-06,1.05001139307,0.55312193184,0.0086749375418,1.04966093808
+142,2.366666667,pose1_to_pose2_press,0.582989306456,1.1447335462e-06,1.0500115474,0.553560542464,0.00867481472956,1.04966108556
+143,2.383333333,pose1_to_pose2_press,0.583454659786,1.12100282937e-06,1.05001179965,0.554025896058,0.00867479176628,1.04966133461
+144,2.400000000,pose1_to_pose2_press,0.583938029291,1.29229330674e-06,1.05001177749,0.554509263162,0.00867495515681,1.04966131852
+145,2.416666667,pose1_to_pose2_press,0.584434468119,1.22560464137e-06,1.05001152059,0.555005703551,0.00867489399625,1.04966106734
+146,2.433333333,pose1_to_pose2_press,0.584939880415,1.28239622361e-06,1.05001176381,0.555511115617,0.00867494963404,1.04966130127
+147,2.450000000,pose1_to_pose2_press,0.585462976299,1.24832406638e-06,1.05001158254,0.556034211066,0.00867491409732,1.04966112019
+148,2.466666667,pose1_to_pose2_press,0.586009203238,1.23589852937e-06,1.0500116843,0.556580436998,0.00867489785813,1.04966121205
+149,2.483333333,pose1_to_pose2_press,0.586581743494,1.20718908829e-06,1.05001169073,0.557152978312,0.0086748729081,1.04966122272
+150,2.500000000,pose1_to_pose2_press,0.587179138396,1.22700037964e-06,1.05001168968,0.557750374282,0.00867489635568,1.04966122196
+151,2.516666667,pose1_to_pose2_press,0.587796435246,1.23995119486e-06,1.05001175492,0.55836767126,0.00867490982691,1.04966128928
+152,2.533333333,pose1_to_pose2_press,0.588424783882,1.24697350676e-06,1.05001166677,0.558996018153,0.00867491086706,1.04966119946
+153,2.550000000,pose1_to_pose2_press,0.589061010352,1.32128681115e-06,1.05001156378,0.559632243256,0.00867498057367,1.04966109725
+154,2.566666667,pose1_to_pose2_press,0.589719335736,1.26636153659e-06,1.05001158836,0.560290570775,0.0086749331467,1.04966112815
+155,2.583333333,pose1_to_pose2_press,0.590408087337,1.21926566189e-06,1.050011661,0.560979322925,0.00867488789905,1.04966120033
+156,2.600000000,pose1_to_pose2_press,0.591124163208,1.38208669269e-06,1.05001170361,0.561695395569,0.00867503943411,1.04966123467
+157,2.616666667,pose1_to_pose2_press,0.591864001407,1.38448037881e-06,1.05001173506,0.562435234304,0.00867504370724,1.04966126758
+158,2.633333333,pose1_to_pose2_press,0.592622062132,1.30203903671e-06,1.05001164825,0.56319329597,0.00867496477023,1.04966118849
+159,2.650000000,pose1_to_pose2_press,0.593381783488,1.21430719516e-06,1.05001152952,0.563953018402,0.00867488064281,1.04966106867
+160,2.666666667,pose1_to_pose2_press,0.594136423514,1.20582808509e-06,1.05001178667,0.564707658916,0.00867487373098,1.04966132359
+161,2.683333333,pose1_to_pose2_press,0.594887260521,1.19976031493e-06,1.05001175827,0.565458495193,0.00867486509595,1.04966129295
+162,2.700000000,pose1_to_pose2_press,0.595636023358,1.31830469471e-06,1.05001153947,0.566207257685,0.00867498271145,1.04966108021
+163,2.716666667,pose1_to_pose2_press,0.596396013975,1.29253995766e-06,1.05001155213,0.566967248111,0.00867495626512,1.04966109201
+164,2.733333333,pose1_to_pose2_press,0.597172381084,1.2973074001e-06,1.05001173854,0.567743615971,0.00867496388898,1.04966128617
+165,2.750000000,pose1_to_pose2_press,0.597975499369,1.27162236649e-06,1.0500116649,0.56854673381,0.00867493637095,1.04966120451
+166,2.766666667,pose1_to_pose2_press,0.598800494336,1.36489754102e-06,1.05001181253,0.569371728151,0.00867502705613,1.04966134071
+167,2.783333333,pose1_to_pose2_press,0.599642307926,1.36198268915e-06,1.05001167194,0.570213541682,0.00867502439331,1.04966121135
+168,2.800000000,pose1_to_pose2_press,0.600485944171,1.40810381383e-06,1.050011782,0.571057178445,0.00867507214929,1.04966131838
+169,2.816666667,pose1_to_pose2_press,0.601322254979,1.26092408483e-06,1.05001155868,0.571893490579,0.00867492964338,1.0496610994
+170,2.833333333,pose1_to_pose2_press,0.602134680379,1.20901273973e-06,1.05001156095,0.572705916591,0.00867487955044,1.04966109535
+171,2.850000000,pose1_to_pose2_press,0.602929701155,1.30592257766e-06,1.05001164155,0.573500937013,0.00867497542827,1.04966118021
+172,2.866666667,pose1_to_pose2_press,0.603708962113,1.26458399604e-06,1.05001174624,0.574280198308,0.00867493522398,1.04966128475
+173,2.883333333,pose1_to_pose2_press,0.604495179264,1.25333282214e-06,1.05001153094,0.575066414211,0.00867491986586,1.04966107265
+174,2.900000000,pose1_to_pose2_press,0.605293400726,1.26681661056e-06,1.05001163228,0.575864636493,0.00867493601514,1.04966117113
+175,2.916666667,pose1_to_pose2_press,0.606093076817,1.18937775342e-06,1.05001175245,0.576664312591,0.00867485823377,1.04966128236
+176,2.933333333,pose1_to_pose2_press,0.60689298856,1.18645363859e-06,1.05001175123,0.577464223775,0.00867485353614,1.0496612843
+177,2.950000000,pose1_to_pose2_press,0.607688759992,1.16456634012e-06,1.05001178073,0.578259996213,0.00867483524122,1.04966131828
+178,2.966666667,pose1_to_pose2_press,0.608459674687,1.16425089713e-06,1.05001165444,0.579030910843,0.00867483478136,1.04966119392
+179,2.983333333,pose1_to_pose2_press,0.609200190576,1.27485024114e-06,1.05001153367,0.579771424691,0.00867493852903,1.04966107498
+180,3.000000000,pose1_to_pose2_press,0.609921285057,1.31475984956e-06,1.05001163819,0.580492518567,0.00867497627928,1.049661177
+181,3.016666667,pose1_to_pose2_press,0.610624544095,1.249307046e-06,1.05001170912,0.581195779413,0.00867491692553,1.04966124704
+182,3.033333333,pose1_to_pose2_press,0.611311023253,1.2252940224e-06,1.05001161711,0.581882258867,0.00867489383359,1.04966115308
+183,3.050000000,pose1_to_pose2_press,0.611990880711,1.34171415119e-06,1.0500117957,0.582562115264,0.00867500646333,1.04966132704
+184,3.066666667,pose1_to_pose2_press,0.612674717264,1.36522336872e-06,1.05001164334,0.583245951804,0.00867503054747,1.04966118999
+185,3.083333333,pose1_to_pose2_press,0.613352303827,1.2202611144e-06,1.05001176983,0.583923539545,0.00867488939666,1.049661312
+186,3.100000000,pose1_to_pose2_press,0.61402003276,1.29176010216e-06,1.05001176857,0.584591267273,0.00867495644918,1.049661302
+187,3.116666667,pose1_to_pose2_press,0.61466621872,1.31894720269e-06,1.05001156748,0.585237453472,0.0086749847379,1.04966110824
+188,3.133333333,pose1_to_pose2_press,0.61528221377,1.22484230791e-06,1.05001180291,0.585853449258,0.00867489270137,1.04966133305
+189,3.150000000,pose1_to_pose2_press,0.615855683229,1.26985118904e-06,1.05001165354,0.586426917839,0.00867493513071,1.04966119418
+190,3.166666667,pose1_to_pose2_press,0.616403494574,1.36902266126e-06,1.05001166167,0.586974729622,0.00867503563412,1.04966120014
+191,3.183333333,pose1_to_pose2_press,0.616932896021,1.22758540089e-06,1.05001168418,0.587504131369,0.00867489517414,1.04966121543
+192,3.200000000,pose1_to_pose2_press,0.617448028715,1.26057727857e-06,1.05001179388,0.588019263907,0.00867492783225,1.04966132915
+193,3.216666667,pose1_to_pose2_press,0.61794629004,1.30894483689e-06,1.05001167087,0.588517523233,0.00867496970162,1.04966121017
+194,3.233333333,pose1_to_pose2_press,0.618416650985,1.29855054432e-06,1.05001155399,0.588987884613,0.0086749608658,1.04966109243
+195,3.250000000,pose1_to_pose2_press,0.618856338479,1.25482084268e-06,1.05001157209,0.589427572115,0.0086749169796,1.0496611034
+196,3.266666667,pose1_to_pose2_press,0.619261602468,1.19455890566e-06,1.05001165769,0.589832837593,0.00867486195929,1.04966119103
+197,3.283333333,pose1_to_pose2_press,0.619645816131,1.30164619685e-06,1.05001168666,0.590217051034,0.00867496838974,1.04966121973
+198,3.300000000,pose1_to_pose2_press,0.620013498475,1.17335359903e-06,1.05001177569,0.590584733536,0.00867484059766,1.04966130532
+199,3.316666667,pose1_to_pose2_press,0.620370046397,1.22989064863e-06,1.05001174322,0.590941279431,0.00867489040447,1.04966127408
+200,3.333333333,pose1_to_pose2_press,0.620713305523,1.27834310485e-06,1.05001166369,0.591284539412,0.0086749421987,1.04966120303
+201,3.350000000,pose1_to_pose2_press,0.621034623876,1.3195226066e-06,1.05001154746,0.591605859046,0.00867498820748,1.04966109639
+202,3.366666667,pose1_to_pose2_press,0.621327250782,1.38819442135e-06,1.05001174818,0.591898484818,0.00867505269154,1.04966128684
+203,3.383333333,pose1_to_pose2_press,0.621584876135,1.39044042737e-06,1.0500118042,0.592156109233,0.00867505153343,1.04966133557
+204,3.400000000,pose1_to_pose2_press,0.621814553495,1.30947238026e-06,1.05001167896,0.592385787938,0.00867497531106,1.04966121306
+205,3.416666667,pose1_to_pose2_press,0.622018886611,1.23067067333e-06,1.05001171604,0.592590122475,0.00867490136757,1.04966124982
+206,3.433333333,pose1_to_pose2_press,0.622205474719,1.29290595778e-06,1.05001178479,0.592776708531,0.00867495664621,1.04966131736
+207,3.450000000,pose1_to_pose2_press,0.622378472093,1.37333040427e-06,1.05001165075,0.592949704399,0.00867503224751,1.04966118873
+208,3.466666667,pose1_to_pose2_press,0.622539828245,1.45566883794e-06,1.05001139321,0.59311105918,0.00867511043046,1.04966094201
+209,3.483333333,pose1_to_pose2_press,0.622688778998,1.37427621623e-06,1.05001152193,0.593260010957,0.00867503219052,1.04966106145
+210,3.500000000,pose1_to_pose2_press,0.622824307723,1.18887951481e-06,1.05001163623,0.593395541701,0.00867485364385,1.04966117469
+211,3.516666667,pose1_to_pose2_press,0.622944472879,1.22111241897e-06,1.05001169245,0.59351570659,0.00867488471729,1.04966122371
+212,3.533333333,pose1_to_pose2_press,0.623049776351,1.2441521257e-06,1.05001168299,0.593621011134,0.00867491154054,1.0496612172
+213,3.550000000,pose1_to_pose2_press,0.62314144853,1.25803061225e-06,1.05001162026,0.593712682064,0.00867492128224,1.04966115256
+214,3.566666667,pose1_to_pose2_press,0.623220948842,1.37909123805e-06,1.05001175664,0.593792180555,0.00867503622824,1.04966128713
+215,3.583333333,pose1_to_pose2_press,0.623288249708,1.37261045915e-06,1.05001182773,0.593859482065,0.00867503201735,1.04966135997
+216,3.600000000,pose1_to_pose2_press,0.623346000707,1.25381360395e-06,1.05001162853,0.593917234921,0.00867491972258,1.04966116604
+217,3.616666667,pose1_to_pose2_press,0.623394379,1.31187398633e-06,1.05001151042,0.593965613724,0.00867497978175,1.04966105678
+218,3.633333333,pose1_to_pose2_press,0.623434304428,1.2876410085e-06,1.05001154714,0.594005538011,0.00867495136946,1.04966108839
+219,3.650000000,pose1_to_pose2_press,0.623466445946,1.31257327469e-06,1.05001169157,0.594037679079,0.00867497467005,1.04966122717
+220,3.666666667,pose1_to_pose2_press,0.623491231159,1.22507880051e-06,1.05001178004,0.594062466246,0.00867489372482,1.0496613171
+221,3.683333333,pose1_to_pose2_press,0.623510101243,1.21948721816e-06,1.05001148575,0.594081335484,0.00867488507054,1.0496610184
+222,3.700000000,pose1_to_pose2_press,0.623523120964,1.23641401554e-06,1.05001162308,0.594094356413,0.00867490619368,1.04966115703
+223,3.716666667,pose1_to_pose2_press,0.623532689393,1.1540180459e-06,1.05001175692,0.594103924655,0.00867482306543,1.0496612879
+224,3.733333333,pose1_to_pose2_press,0.62353929002,1.13037988892e-06,1.05001179765,0.594110524374,0.0086747962964,1.04966132703
+225,3.750000000,pose1_to_pose2_press,0.623543692996,1.33759115271e-06,1.05001169937,0.594114926465,0.00867500077873,1.04966123507
+226,3.766666667,pose1_to_pose2_press,0.623546588268,1.35473937836e-06,1.05001168349,0.594117821644,0.00867501755809,1.04966121814
+227,3.783333333,pose1_to_pose2_press,0.623548589701,1.29590336681e-06,1.05001170144,0.594119823302,0.00867495931316,1.04966123227
+228,3.800000000,pose1_to_pose2_press,0.623549589471,1.25640634362e-06,1.0500117201,0.594120823178,0.0086749201394,1.04966125017
+229,3.816666667,pose1_to_pose2_press,0.623549626916,1.25403146324e-06,1.05001172165,0.594120860626,0.00867491777911,1.04966125179
+230,3.833333333,pose1_to_pose2_press,0.623549786272,1.24392454813e-06,1.05001172828,0.594121019997,0.00867490773428,1.04966125873
+231,3.850000000,pose1_to_pose2_press,0.623550093872,1.22441550376e-06,1.05001174107,0.594121327625,0.00867488834508,1.04966127212
+232,3.866666667,pose1_to_pose2_press,0.623550329911,1.20944513294e-06,1.05001175089,0.594121563685,0.00867487346667,1.04966128239
+233,3.883333333,pose1_to_pose2_press,0.623550625182,1.1907180462e-06,1.05001176317,0.594121858983,0.00867485485461,1.04966129524
+234,3.900000000,pose1_to_pose2_press,0.623551047413,1.16393871769e-06,1.05001178072,0.594122281252,0.00867482823978,1.04966131362
+235,3.916666667,pose1_to_pose2_press,0.623551260008,1.15045521142e-06,1.05001178956,0.594122493867,0.0086748148391,1.04966132288
+236,3.933333333,pose1_to_pose2_press,0.623551362959,1.14392572605e-06,1.05001179384,0.594122596827,0.00867480834973,1.04966132736
+237,3.950000000,pose1_to_pose2_press,0.62355166566,1.14525701711e-06,1.05001177945,0.594122899522,0.00867480968485,1.04966131354
+238,3.966666667,pose1_to_pose2_press,0.623552069142,1.19555111002e-06,1.05001169651,0.594123302916,0.00867485971437,1.04966123133
+239,3.983333333,pose1_to_pose2_press,0.623552348952,1.23042945122e-06,1.05001163899,0.594123582665,0.00867489440924,1.04966117431
+240,4.000000000,pose1_to_pose2_press,0.623552411667,1.23824690568e-06,1.0500116261,0.594123645366,0.00867490218557,1.04966116153
+241,4.016666667,pose1_to_pose2_press,0.6235525611,1.25687374241e-06,1.05001159538,0.594123794767,0.00867492071442,1.04966113109
+242,4.033333333,pose1_to_pose2_press,0.623552747412,1.28009750158e-06,1.05001155709,0.594123981038,0.00867494381601,1.04966109312
+243,4.050000000,pose1_to_pose2_press,0.623552812783,1.25588964309e-06,1.05001157844,0.594124046923,0.00867492135573,1.04966111454
+244,4.066666667,pose1_to_pose2_press,0.623552909513,1.2190120444e-06,1.05001161118,0.594124144432,0.00867488712253,1.04966114735
+245,4.083333333,pose1_to_pose2_press,0.623553062828,1.16056221494e-06,1.05001166307,0.59412429898,0.00867483286398,1.04966119937
+246,4.100000000,pose1_to_pose2_press,0.623553165935,1.28229627068e-06,1.05001170865,0.594124400193,0.00867494786468,1.04966123734
+247,4.116666667,pose2_hold,0.623553165935,1.28229627068e-06,1.05001170865,0.594124400194,0.00867494786557,1.04966123735
+248,4.133333333,pose2_hold,0.623553165935,1.28229627068e-06,1.05001170865,0.594124400194,0.0086749478656,1.04966123735
+249,4.150000000,pose2_hold,0.623553165935,1.28229627068e-06,1.05001170865,0.594124400194,0.00867494786529,1.04966123735
+250,4.166666667,pose2_hold,0.623553165935,1.28229627068e-06,1.05001170865,0.594124400194,0.00867494786561,1.04966123735
+251,4.183333333,pose2_hold,0.623553165935,1.28229627068e-06,1.05001170865,0.594124400194,0.00867494786563,1.04966123735
+252,4.200000000,pose2_hold,0.623553165935,1.28229627068e-06,1.05001170865,0.594124400194,0.00867494786528,1.04966123735
+253,4.216666667,pose2_hold,0.623553165935,1.28229627068e-06,1.05001170865,0.594124400195,0.00867494786546,1.04966123735
+254,4.233333333,pose2_hold,0.623553165935,1.28229627068e-06,1.05001170865,0.594124400194,0.00867494786567,1.04966123735
+255,4.250000000,pose2_hold,0.623553165935,1.28229627068e-06,1.05001170865,0.594124400195,0.00867494786509,1.04966123735
+256,4.266666667,pose2_hold,0.623553165935,1.28229627068e-06,1.05001170865,0.594124400194,0.00867494786568,1.04966123735
+257,4.283333333,pose2_hold,0.623553165935,1.28229627068e-06,1.05001170865,0.594124400194,0.00867494786548,1.04966123735
+258,4.300000000,pose2_hold,0.623553165935,1.28229627068e-06,1.05001170865,0.594124400194,0.00867494786538,1.04966123735
+259,4.316666667,pose2_hold,0.623553165935,1.28229627068e-06,1.05001170865,0.594124400195,0.00867494786502,1.04966123735
+260,4.333333333,pose2_hold,0.623553165935,1.28229627068e-06,1.05001170865,0.594124400194,0.00867494786561,1.04966123735
+261,4.350000000,pose2_hold,0.623553165935,1.28229627068e-06,1.05001170865,0.594124400195,0.00867494786521,1.04966123735
+262,4.366666667,pose2_hold,0.623553165935,1.28229627068e-06,1.05001170865,0.594124400194,0.00867494786518,1.04966123735
+263,4.383333333,pose2_hold,0.623553165935,1.28229627068e-06,1.05001170865,0.594124400195,0.00867494786534,1.04966123735
+264,4.400000000,pose2_hold,0.623553165935,1.28229627068e-06,1.05001170865,0.594124400195,0.00867494786534,1.04966123735
+265,4.416666667,pose2_to_pose3_retreat,0.623553165935,1.28229627068e-06,1.05001170865,0.594124400195,0.00867494786537,1.04966123735
+266,4.433333333,pose2_to_pose3_retreat,0.623553165397,1.24212283696e-06,1.0500117045,0.594124399976,0.00867490880984,1.04966123405
+267,4.450000000,pose2_to_pose3_retreat,0.623553061237,1.20491277325e-06,1.05001166844,0.594124295747,0.00867487141462,1.04966119927
+268,4.466666667,pose2_to_pose3_retreat,0.623552912805,1.22025084459e-06,1.05001162384,0.59412414667,0.00867488457567,1.04966115505
+269,4.483333333,pose2_to_pose3_retreat,0.623552690584,1.23671567566e-06,1.05001159264,0.594123923671,0.00867489841722,1.04966112428
+270,4.500000000,pose2_to_pose3_retreat,0.623552391056,1.2348379831e-06,1.05001168235,0.594123623792,0.00867489535948,1.04966121405
+271,4.516666667,pose2_to_pose3_retreat,0.623551421256,1.22768785395e-06,1.05001191636,0.594122653123,0.00867488529701,1.04966144862
+272,4.533333333,pose2_to_pose3_retreat,0.623548268947,1.20746978953e-06,1.05001168461,0.594119502724,0.00867487175603,1.04966122228
+273,4.550000000,pose2_to_pose3_retreat,0.623540178503,1.1863320946e-06,1.0500117115,0.594111414257,0.0086748573398,1.04966125004
+274,4.566666667,pose2_to_pose3_retreat,0.623523466834,1.27105190044e-06,1.05001178927,0.594094701276,0.00867493745202,1.04966132458
+275,4.583333333,pose2_to_pose3_retreat,0.623495742897,1.26130079151e-06,1.05001173057,0.594066976612,0.00867492525604,1.04966126584
+276,4.600000000,pose2_to_pose3_retreat,0.62345658714,1.39016224487e-06,1.05001191482,0.594027820231,0.00867505176982,1.04966144601
+277,4.616666667,pose2_to_pose3_retreat,0.62340640062,1.30679707481e-06,1.05001161456,0.593977633496,0.00867496827206,1.04966116359
+278,4.633333333,pose2_to_pose3_retreat,0.623345230114,1.17795365313e-06,1.05001165336,0.593916464835,0.0086748450831,1.04966118863
+279,4.650000000,pose2_to_pose3_retreat,0.623275277149,1.23291236908e-06,1.05001157005,0.59384651121,0.00867489793938,1.04966110957
+280,4.666666667,pose2_to_pose3_retreat,0.623196879338,1.2477885494e-06,1.05001168287,0.593768114714,0.00867491715233,1.04966122208
+281,4.683333333,pose2_to_pose3_retreat,0.62310822399,1.18544880638e-06,1.05001176419,0.593679459904,0.0086748564588,1.0496613003
+282,4.700000000,pose2_to_pose3_retreat,0.62300810531,1.22002691598e-06,1.05001157697,0.593579340907,0.0086748901325,1.04966111036
+283,4.716666667,pose2_to_pose3_retreat,0.622892528106,1.33201399605e-06,1.05001187995,0.593463761159,0.00867499374618,1.04966142049
+284,4.733333333,pose2_to_pose3_retreat,0.622761130246,1.38419881939e-06,1.050011711,0.593332362935,0.00867504447099,1.04966124696
+285,4.750000000,pose2_to_pose3_retreat,0.622611992571,1.28498797842e-06,1.05001160908,0.593183227097,0.00867495116137,1.04966113849
+286,4.766666667,pose2_to_pose3_retreat,0.622445348317,1.23841023774e-06,1.05001166365,0.593016582561,0.00867490357257,1.04966119292
+287,4.783333333,pose2_to_pose3_retreat,0.622260706288,1.31849878882e-06,1.05001166955,0.592831940074,0.00867498238646,1.04966120712
+288,4.800000000,pose2_to_pose3_retreat,0.62205757783,1.35040158345e-06,1.0500116255,0.592628810814,0.00867501187832,1.04966117248
+289,4.816666667,pose2_to_pose3_retreat,0.621835732762,1.24972402622e-06,1.05001164646,0.592406967121,0.00867491559013,1.04966118855
+290,4.833333333,pose2_to_pose3_retreat,0.621592643402,1.22774445143e-06,1.05001167582,0.592163879244,0.00867489834615,1.04966121237
+291,4.850000000,pose2_to_pose3_retreat,0.621328963503,1.34764583692e-06,1.05001165745,0.591900196872,0.00867501019006,1.04966120404
+292,4.866666667,pose2_to_pose3_retreat,0.621043476416,1.2235976126e-06,1.05001175716,0.591614710342,0.00867488761813,1.04966129609
+293,4.883333333,pose2_to_pose3_retreat,0.620733293401,1.17918964415e-06,1.05001166855,0.591304529345,0.00867484998298,1.04966120796
+294,4.900000000,pose2_to_pose3_retreat,0.620396403625,1.34889594188e-06,1.05001179633,0.590967636979,0.00867501061421,1.04966133084
+295,4.916666667,pose2_to_pose3_retreat,0.6200277478,1.47010320306e-06,1.050011727,0.590598979297,0.00867512507266,1.04966125315
+296,4.933333333,pose2_to_pose3_retreat,0.619628153819,1.23467684027e-06,1.05001179527,0.590199387884,0.00867489854102,1.04966132874
+297,4.950000000,pose2_to_pose3_retreat,0.619193964929,1.28068350226e-06,1.05001167119,0.58976519913,0.00867494511633,1.04966121037
+298,4.966666667,pose2_to_pose3_retreat,0.618737094186,1.3363965223e-06,1.05001157516,0.589308327206,0.00867499653268,1.04966111013
+299,4.983333333,pose2_to_pose3_retreat,0.618262856989,1.2149093667e-06,1.05001167841,0.588834091585,0.00867488012715,1.04966120954
+300,5.000000000,pose2_to_pose3_retreat,0.617772069602,1.42510624021e-06,1.05001155437,0.58834330171,0.00867508209403,1.04966109436
+301,5.016666667,pose2_to_pose3_retreat,0.617263214636,1.26599589353e-06,1.05001156092,0.587834449496,0.00867493202693,1.04966109591
+302,5.033333333,pose2_to_pose3_retreat,0.616725407686,1.25375988265e-06,1.05001147015,0.587296643176,0.00867492192656,1.04966100812
+303,5.050000000,pose2_to_pose3_retreat,0.616154248005,1.3333047478e-06,1.05001159186,0.586725482955,0.00867499944756,1.04966112619
+304,5.066666667,pose2_to_pose3_retreat,0.615542768178,1.26973919359e-06,1.05001168597,0.586114003519,0.00867493716225,1.04966121903
+305,5.083333333,pose2_to_pose3_retreat,0.614904694158,1.26750299149e-06,1.05001176145,0.585475929247,0.00867493397283,1.04966129259
+306,5.100000000,pose2_to_pose3_retreat,0.614245816284,1.28445759701e-06,1.05001171559,0.584817051261,0.00867495082328,1.04966125387
+307,5.116666667,pose2_to_pose3_retreat,0.613576031266,1.26900381502e-06,1.05001154643,0.584147265812,0.00867493384922,1.04966108263
+308,5.133333333,pose2_to_pose3_retreat,0.612893581015,1.27880838764e-06,1.0500115513,0.583464815885,0.00867494480534,1.04966108808
+309,5.150000000,pose2_to_pose3_retreat,0.612186566591,1.20935498729e-06,1.05001171342,0.582757803685,0.00867488304877,1.04966125387
+310,5.166666667,pose2_to_pose3_retreat,0.611455565121,1.17689762439e-06,1.05001165251,0.582026801766,0.00867484880183,1.04966118721
+311,5.183333333,pose2_to_pose3_retreat,0.610703503714,1.24729049722e-06,1.05001152766,0.581274737511,0.00867490953391,1.04966106264
+312,5.200000000,pose2_to_pose3_retreat,0.609933389533,1.21995630851e-06,1.0500116891,0.58050462357,0.00867488293452,1.04966122062
+313,5.216666667,pose2_to_pose3_retreat,0.609147937278,1.29030628279e-06,1.05001170554,0.579719171647,0.00867495467669,1.04966124308
+314,5.233333333,pose2_to_pose3_retreat,0.608360104357,1.35805665996e-06,1.05001172722,0.578931339247,0.0086750245288,1.04966127335
+315,5.250000000,pose2_to_pose3_retreat,0.607567261072,1.2454704264e-06,1.05001169602,0.578138496095,0.00867491182134,1.04966122793
+316,5.266666667,pose2_to_pose3_retreat,0.606766302565,1.21645570589e-06,1.05001176203,0.577337536848,0.00867488018379,1.04966129112
+317,5.283333333,pose2_to_pose3_retreat,0.605950190917,1.35550111618e-06,1.05001197361,0.57652142467,0.00867501775428,1.04966151071
+318,5.300000000,pose2_to_pose3_retreat,0.605111142772,1.30026144224e-06,1.05001142359,0.575682376722,0.00867496335242,1.0496609648
+319,5.316666667,pose2_to_pose3_retreat,0.604261904208,1.40550447177e-06,1.05001140989,0.574833138562,0.00867507002545,1.0496609525
+320,5.333333333,pose2_to_pose3_retreat,0.603403810651,1.34156468118e-06,1.05001160548,0.573975043797,0.00867500124352,1.04966112957
+321,5.350000000,pose2_to_pose3_retreat,0.602540115944,1.14336484294e-06,1.05001164944,0.573111353866,0.00867481993935,1.04966119056
+322,5.366666667,pose2_to_pose3_retreat,0.601680719909,1.27276994241e-06,1.05001178175,0.572251954562,0.00867493807623,1.04966131842
+323,5.383333333,pose2_to_pose3_retreat,0.600831925384,1.29252113452e-06,1.05001172876,0.571403160036,0.00867495744213,1.04966125595
+324,5.400000000,pose2_to_pose3_retreat,0.59999024492,1.20154823933e-06,1.0500117006,0.570561481429,0.00867487288613,1.04966123059
+325,5.416666667,pose2_to_pose3_retreat,0.59915599197,1.18100589885e-06,1.05001181291,0.569727228804,0.00867485326681,1.04966133839
+326,5.433333333,pose2_to_pose3_retreat,0.598307290948,1.2045272316e-06,1.05001175423,0.568878526782,0.00867487345411,1.04966128125
+327,5.450000000,pose2_to_pose3_retreat,0.597448319723,1.27659709047e-06,1.05001151201,0.568019555128,0.00867494448489,1.04966104928
+328,5.466666667,pose2_to_pose3_retreat,0.596592435692,1.28234881265e-06,1.05001164375,0.567163671094,0.00867495046792,1.04966118687
+329,5.483333333,pose2_to_pose3_retreat,0.595740774447,1.3594473183e-06,1.05001169087,0.56631200811,0.00867502166978,1.04966123404
+330,5.500000000,pose2_to_pose3_retreat,0.594897798483,1.3910096416e-06,1.05001173886,0.565469031678,0.00867505150674,1.04966127869
+331,5.516666667,pose2_to_pose3_retreat,0.594083645485,1.21816070701e-06,1.05001180971,0.564654881678,0.00867488852733,1.04966134187
+332,5.533333333,pose2_to_pose3_retreat,0.593297041714,1.14451398567e-06,1.05001157417,0.563868277864,0.00867481456961,1.04966110231
+333,5.550000000,pose2_to_pose3_retreat,0.592530360504,1.23761206469e-06,1.05001136035,0.563101595831,0.00867490522283,1.04966089704
+334,5.566666667,pose2_to_pose3_retreat,0.591779583334,1.32228083455e-06,1.05001152457,0.562350819124,0.00867499182918,1.04966107039
+335,5.583333333,pose2_to_pose3_retreat,0.591042536204,1.32525634615e-06,1.05001174078,0.561613770768,0.00867499040329,1.04966128053
+336,5.600000000,pose2_to_pose3_retreat,0.590306057118,1.22959293258e-06,1.05001168626,0.560877292666,0.00867489783566,1.04966122003
+337,5.616666667,pose2_to_pose3_retreat,0.589562849743,1.22768908494e-06,1.05001162901,0.56013408498,0.00867489515719,1.04966116969
+338,5.633333333,pose2_to_pose3_retreat,0.588837415092,1.32488983839e-06,1.05001163127,0.559408648161,0.0086749845714,1.04966116128
+339,5.650000000,pose2_to_pose3_retreat,0.588133052383,1.24760897836e-06,1.05001186611,0.558704287026,0.00867491267277,1.04966139716
+340,5.666666667,pose2_to_pose3_retreat,0.587457218304,1.28202990745e-06,1.0500120238,0.558028452831,0.00867494676757,1.04966155656
+341,5.683333333,pose2_to_pose3_retreat,0.586820680897,1.38279844506e-06,1.05001186475,0.557391914274,0.00867504389337,1.04966140385
+342,5.700000000,pose2_to_pose3_retreat,0.586231138292,1.43428778668e-06,1.05001165963,0.556802371647,0.00867509536387,1.04966120019
+343,5.716666667,pose2_to_pose3_retreat,0.585661543792,1.33382321625e-06,1.0500116798,0.556232776097,0.00867499105903,1.04966121347
+344,5.733333333,pose2_to_pose3_retreat,0.585105873662,1.19592152904e-06,1.05001173202,0.555677110275,0.00867486733011,1.04966125469
+345,5.750000000,pose2_to_pose3_retreat,0.584565281622,1.14361398939e-06,1.05001156536,0.555136518706,0.00867481713796,1.04966110087
+346,5.766666667,pose2_to_pose3_retreat,0.584041060867,1.37412559191e-06,1.05001171761,0.554612295992,0.00867504127737,1.04966125992
+347,5.783333333,pose2_to_pose3_retreat,0.583538663555,1.19883318756e-06,1.05001180985,0.554109898152,0.00867486379707,1.04966134237
+348,5.800000000,pose2_to_pose3_retreat,0.583062468951,1.26550129441e-06,1.05001161981,0.553633702638,0.00867492752299,1.04966115594
+349,5.816666667,pose2_to_pose3_retreat,0.58261606684,1.35645080312e-06,1.05001155624,0.55318729989,0.00867501629226,1.04966109186
+350,5.833333333,pose2_to_pose3_retreat,0.58218723128,1.30275155164e-06,1.05001172778,0.552758464582,0.00867496324726,1.04966125847
+351,5.850000000,pose2_to_pose3_retreat,0.58177541476,1.29996758112e-06,1.05001153394,0.552346648711,0.00867496309371,1.04966107532
+352,5.866666667,pose2_to_pose3_retreat,0.581390250113,1.20827445489e-06,1.05001140346,0.551961485407,0.00867487597687,1.04966094537
+353,5.883333333,pose2_to_pose3_retreat,0.581033534999,1.2179665077e-06,1.05001174027,0.551604769567,0.00867488291293,1.04966127491
+354,5.900000000,pose2_to_pose3_retreat,0.580711606667,1.26048573004e-06,1.05001192911,0.551282840909,0.00867492419527,1.04966146057
+355,5.916666667,pose2_to_pose3_retreat,0.580425968828,1.35242644972e-06,1.05001178963,0.550997203048,0.00867501620279,1.04966132451
+356,5.933333333,pose2_to_pose3_retreat,0.580175706839,1.3561400294e-06,1.05001161672,0.550746941699,0.00867502224256,1.04966115548
+357,5.950000000,pose2_to_pose3_retreat,0.57994589821,1.24122977391e-06,1.05001157393,0.550517134172,0.00867491111317,1.0496611138
+358,5.966666667,pose2_to_pose3_retreat,0.579732153643,1.27324959264e-06,1.05001166749,0.550303388333,0.00867493886596,1.04966120856
+359,5.983333333,pose2_to_pose3_retreat,0.57952920605,1.32107209648e-06,1.05001179704,0.55010043893,0.00867498016707,1.04966132875
+360,6.000000000,pose2_to_pose3_retreat,0.579339293042,1.23159331402e-06,1.05001161038,0.549910527599,0.00867489608906,1.04966113502
+361,6.016666667,pose2_to_pose3_retreat,0.579166637792,1.37721263499e-06,1.05001182867,0.549737870761,0.00867503633553,1.04966135369
+362,6.033333333,pose2_to_pose3_retreat,0.579014136108,1.53760586813e-06,1.05001193527,0.549585369516,0.00867519842641,1.04966146553
+363,6.050000000,pose2_to_pose3_retreat,0.57888206133,1.22730589531e-06,1.0500118521,0.549453295568,0.0086748907702,1.04966137809
+364,6.066666667,pose2_to_pose3_retreat,0.578769009033,1.22137288676e-06,1.0500116157,0.54934024358,0.00867488611805,1.04966114745
+365,6.083333333,pose2_to_pose3_retreat,0.578671797409,1.23882535217e-06,1.05001154075,0.54924303219,0.0086749047073,1.0496610816
+366,6.100000000,pose2_to_pose3_retreat,0.578587708275,1.19153261821e-06,1.05001170168,0.549158942776,0.00867485639287,1.04966124081
+367,6.116666667,pose2_to_pose3_retreat,0.57851493086,1.1763665631e-06,1.0500117374,0.549086165982,0.00867484310341,1.04966127079
+368,6.133333333,pose2_to_pose3_retreat,0.578453657846,1.18418509851e-06,1.05001154982,0.549024892834,0.0086748505404,1.04966108484
+369,6.150000000,pose2_to_pose3_retreat,0.578402925288,1.19579806095e-06,1.05001167059,0.548974159828,0.00867486068424,1.04966120681
+370,6.166666667,pose2_to_pose3_retreat,0.578362257279,1.30108944278e-06,1.05001163348,0.548933490448,0.00867496141279,1.04966117188
+371,6.183333333,pose2_to_pose3_retreat,0.578331095593,1.3578673808e-06,1.05001135993,0.548902328199,0.00867501653471,1.04966090464
+372,6.200000000,pose2_to_pose3_retreat,0.578307580159,1.23589041329e-06,1.05001155633,0.548878815178,0.00867490265616,1.04966109873
+373,6.216666667,pose2_to_pose3_retreat,0.578290962302,1.20529778877e-06,1.05001170933,0.548862197708,0.00867487278904,1.04966123733
+374,6.233333333,pose2_to_pose3_retreat,0.578279083399,1.31557760284e-06,1.05001188548,0.548850316182,0.00867497420837,1.04966141439
+375,6.250000000,pose2_to_pose3_retreat,0.578271136832,1.34974944574e-06,1.05001188056,0.548842369932,0.00867500952518,1.0496614113
+376,6.266666667,pose2_to_pose3_retreat,0.578265631126,1.35331943464e-06,1.05001181483,0.548836865496,0.00867501747908,1.04966134746
+377,6.283333333,pose2_to_pose3_retreat,0.578262130988,1.32038290071e-06,1.05001168654,0.548833365673,0.00867498569677,1.04966122127
+378,6.300000000,pose2_to_pose3_retreat,0.578259588383,1.29341335754e-06,1.05001158587,0.548830823255,0.00867495942455,1.0496611222
+379,6.316666667,pose2_to_pose3_retreat,0.578257977287,1.30623643245e-06,1.05001157698,0.548829211716,0.00867497076261,1.04966111371
+380,6.333333333,pose2_to_pose3_retreat,0.578257277443,1.32552766839e-06,1.05001159831,0.548828511423,0.0086749885249,1.04966113493
+381,6.350000000,pose2_to_pose3_retreat,0.578256778035,1.33929388049e-06,1.05001161353,0.548828011694,0.00867500120006,1.04966115008
+382,6.366666667,pose2_to_pose3_retreat,0.578256448778,1.34836985753e-06,1.05001162356,0.548827682226,0.00867500955671,1.04966116006
+383,6.383333333,pose2_to_pose3_retreat,0.578256279466,1.35303694692e-06,1.05001162872,0.548827512806,0.0086750138539,1.04966116519
+384,6.400000000,pose2_to_pose3_retreat,0.578255901389,1.36345865486e-06,1.05001164025,0.548827134486,0.00867502344962,1.04966117666
+385,6.416666667,pose2_to_pose3_retreat,0.578255702666,1.36893648451e-06,1.0500116463,0.548826935635,0.0086750284933,1.04966118268
+386,6.433333333,pose2_to_pose3_retreat,0.578255609462,1.37150564106e-06,1.05001164914,0.548826842372,0.00867503085884,1.04966118551
+387,6.450000000,pose2_to_pose3_retreat,0.578255543285,1.37332980661e-06,1.05001165116,0.548826776153,0.00867503253843,1.04966118752
+388,6.466666667,pose2_to_pose3_retreat,0.578255265663,1.3809824899e-06,1.05001165962,0.548826498352,0.00867503958459,1.04966119593
+389,6.483333333,pose2_to_pose3_retreat,0.578254930579,1.38346959083e-06,1.05001166721,0.548826163273,0.0086750420847,1.04966120341
+390,6.500000000,pose2_to_pose3_retreat,0.578254692737,1.37517476331e-06,1.05001166869,0.548825925764,0.00867503490965,1.04966120471
+391,6.516666667,pose2_to_pose3_retreat,0.578254597894,1.37186705914e-06,1.05001166928,0.548825831052,0.00867503204847,1.04966120523
+392,6.533333333,pose2_to_pose3_retreat,0.578254524793,1.36931764596e-06,1.05001166973,0.548825758054,0.00867502984322,1.04966120563
+393,6.550000000,pose2_to_pose3_retreat,0.578254399685,1.3649544672e-06,1.05001167051,0.548825633121,0.00867502606905,1.04966120631
+394,6.566666667,pose2_to_pose3_retreat,0.578254062635,1.35319970167e-06,1.0500116726,0.548825296541,0.00867501590114,1.04966120816
+395,6.583333333,pose2_to_pose3_retreat,0.578253874619,1.34664256603e-06,1.05001167377,0.548825108787,0.00867501022919,1.04966120919
+396,6.600000000,pose2_to_pose3_retreat,0.578253807878,1.3443149402e-06,1.05001167419,0.548825042139,0.00867500821579,1.04966120955
+397,6.616666667,pose2_to_pose3_retreat,0.578253766891,1.34288551718e-06,1.05001167444,0.54882500121,0.00867500697933,1.04966120978
+398,6.633333333,pose2_to_pose3_retreat,0.578253671592,1.33956191714e-06,1.05001167504,0.548824906044,0.0086750041044,1.0496612103
+399,6.650000000,pose2_to_pose3_retreat,0.578253389973,1.3297403499e-06,1.05001167679,0.548824624818,0.00867499560871,1.04966121184
+400,6.666666667,pose2_to_pose3_retreat,0.578253051497,1.30591085035e-06,1.05001168076,0.548824286636,0.00867497274532,1.04966121498
+401,6.683333333,pose2_to_pose3_retreat,0.578252673698,1.25001538464e-06,1.05001168972,0.548823908732,0.00867491639946,1.04966122163
+402,6.700000000,pose2_to_pose3_retreat,0.578252431944,1.21424782333e-06,1.05001169546,0.548823666911,0.0086748803437,1.04966122588
+403,6.716666667,pose2_to_pose3_retreat,0.578252318754,1.24096775621e-06,1.05001168695,0.548823553517,0.00867490644208,1.04966121907
+404,6.733333333,pose2_to_pose3_retreat,0.578252226235,1.28922810406e-06,1.05001167319,0.548823460728,0.00867495389863,1.04966120814
+405,6.750000000,pose2_to_pose3_retreat,0.578252191636,1.30727573046e-06,1.05001166804,0.548823426028,0.00867497164566,1.04966120405
+406,6.766666667,pose2_to_pose3_retreat,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859